Mooring robot-oriented wharf berthing ship oscillation suppression control method

Abstract

The invention relates to a mooring robot-oriented wharf berthing ship oscillation suppression control method, which is characterized in that a multi-dimensional oscillation fuzzy controller can plan resultant force applied to a ship by multiple mooring robots, the resultant force is adjusted in real time according to ship oscillation, and the oscillation of the mooring ship is quickly suppressed by self-adaption to environmental change. The multi-dimensional oscillation fuzzy controller is combined with an oscillation offset index, the resultant force can be adaptively adjusted according to the offset degree of ship oscillation relative to the expected balance position, driving saturation is effectively avoided, and the operation power consumption of the robot is reduced. The multi-dimensional oscillation fuzzy controller provides a self-adaptive solution for the control problem of the mooring robot, and promotes the application of the mooring robot in wharf ship docking operation.

Description

Technical Field

[0001] The present invention relates to the combined force control of mooring robots. After multiple mooring robots dock with a docked ship, they exert a regular combined force to reduce the oscillation of the ship and improve the safety and work efficiency of the ship's mooring operation. Background Art

[0002] my country's port throughput ranks first in the world. Currently, large ships are moored with manual ropes, which require continuous operations such as fixing, adjusting, and untying ropes during the different stages of berthing and leaving. This is inefficient and unsafe, seriously restricting the further development of the marine economy. Figure 1 As shown in the figure, the multi-mooring robot system consists of multiple mooring robots arranged along the dock. After being fixed to the freeboard of the ship, it reduces the vibration of the ship by applying a certain regular combined force, shortens the mooring operation time, improves safety, widens the loading and unloading operation window, and significantly improves economic benefits.

[0003] Research on the use of robots for mooring ships is in its infancy, both domestically and internationally. In practice, ships, disturbed by waves, exhibit complex motion patterns characterized by superposition of high and low frequencies and multimodal oscillations. Multi-robot mooring systems, consisting of robots and moored vessels, exhibit strong fluid-solid coupling and are difficult to accurately model. When ships are subject to random disturbances such as waves, wind, and currents, simple proportional-differential control or other conventional model-free control methods struggle to adapt to changing sea conditions. Existing fuzzy control methods for mooring forces restrict the shape of the membership function, reducing inference capabilities.

[0004] To conserve energy, existing robots are typically equipped with solar panels and batteries to convert solar energy into electricity for storage and utilization. However, the marine environment in which moored robots operate contains salt spray, and salt particles in the spray can deposit on the surface of solar panels, reducing their transparency. These particles scatter and absorb sunlight, reducing the effective light intensity reaching the solar cells and lowering the panels' power generation efficiency.

[0005] The present invention proposes an oscillation offset index to describe the tendency of ship oscillations approaching or exceeding the safe operating range. Utilizing fuzzy reasoning, a nonlinear mapping of the oscillation offset index to the change in resultant force is established, thereby constructing a moored ship oscillation suppression control method for mooring robots. This method enables multiple mooring robots to adapt to changes in sea conditions and change the resultant force input, ensuring that ship oscillations are within the safe operating range. Summary of the Invention

[0006] In view of the deficiencies in the prior art, the present invention provides

[0007] A method for suppressing oscillations of a docked ship for a mooring robot comprises the following steps:

[0008] S1. Determine the ship type, draft, and dock shape of the docked ship, draw a three-dimensional model of the ship, and draw a dock model. The three-dimensional dock model includes the dock, ship, ocean, and mooring robot; construct the flow field in the hydrodynamic analysis software and perform frequency domain analysis and time domain analysis.

[0009] S2. Divide the resultant force into restoring force and damping force, and simulate and analyze the effect of these two forces on the suppression of ship oscillation.

[0010] S3. Based on the characteristics of ship mooring operations, an oscillation offset index is proposed to describe the real-time oscillation characteristics of moored ships.

[0011] S4. Using fuzzy mathematics, fuzzy reasoning rules are established based on the simulation effect of ship oscillation suppression. The reasoning logic for mapping the oscillation offset index to the restoring force and damping force is constructed. The restoring force fuzzy controller and the damping force fuzzy controller are established. The two are combined to obtain a single-dimensional oscillation fuzzy controller.

[0012] Construction of S5 multi-dimensional oscillation fuzzy controller: According to the vibration reduction requirements of the ship's six-degree-of-freedom motion, single-dimensional oscillation fuzzy controllers on different modes are used together to obtain a multi-dimensional oscillation fuzzy controller.

[0013] A mooring robot comprises a robot body, a robotic arm arranged on the surface of the robot body and a robotic hand arranged at the end of the robotic arm, wherein a movable base is arranged at the bottom of the robot body, an inclined surface is formed on the top of the robot body, and the upper surface of the inclined surface is fixedly connected to a vertical plate, one side of the vertical plate is rotatably connected to two fixed shafts, one end of the fixed shaft is rotatably connected to a side plate, the vertical plate and the side plate are fixedly connected to the same connecting plate, the opposite surfaces of the vertical plate and the side plate are fixedly connected to the same mounting frame, the inner wall of the mounting frame is fixedly connected to a solar panel, two groups of mobile components are fixedly connected to the surface of the fixed shaft, and the two groups of mobile components are fixedly connected to the same cleaning brush assembly, and a driving part is provided in the cleaning brush assembly, and the driving part can drive the cleaning brush assembly to rotate 180 degrees when the cleaning brush assembly moves to the bottom of the mobile assembly.

[0014] Furthermore, each group of the moving components includes two transmission rollers, and the two transmission rollers are respectively fixedly connected to the surfaces of the two fixed shafts. The surfaces of the two transmission rollers are provided with the same transmission belt, and the two transmission rollers are connected through the transmission belt. The cleaning brush assembly is fixedly connected to the top of the transmission belt surface, and the rear side of the vertical plate is fixedly connected to a motor, and the output end of the motor is fixedly connected to one end of one of the fixed shafts.

[0015] Furthermore, the cleaning brush assembly includes a fixed block fixedly connected to the top of the transmission belt surface, the opposite surfaces of the two fixed blocks are fixedly connected to the same fixed rod, the surface of the fixed rod is rotatably connected to the same mounting rod, and the bottom of the mounting rod is fixedly connected to bristles.

[0016] Furthermore, a groove is provided on the surface of the mounting rod, and the driving part includes a gear fixedly connected to the inner wall of the groove, the gear is rotatably connected to the surface of the fixed rod, a sliding groove is provided on the inner bottom wall of the groove, and a rack is fitted on the inner wall of the sliding groove, a spring is fixedly connected to the inner bottom wall of the sliding groove, one end of the spring is fixedly connected to a rack, and the rack is engaged with the gear.

[0017] Furthermore, the upper surface of the inclined surface is fixedly connected to a top plate corresponding to the rack, the surface of the mounting rod is provided with an avoidance groove, a torsion spring is provided in the avoidance groove, the torsion spring is sleeved on the surface of the fixed rod, one end of the torsion spring is fixedly connected to the inner bottom wall of the avoidance groove, and the other end of the torsion spring is fixedly connected to the surface of the fixed rod.

[0018] Furthermore, an injection surface is formed at the bottom of the mounting rod, an injection cavity is formed inside the mounting rod, an injection hole is provided on the injection surface and passes through the injection cavity, a flow channel is formed inside the fixing rod, a connecting port passing through the flow channel is provided on the surface of the fixing rod, and a first connecting channel connecting the connecting port and the injection cavity is formed inside the mounting rod.

[0019] Furthermore, a cavity is formed on the front of the robot body, an air pump is fixedly connected to the inner bottom wall of the cavity, an air outlet end of the air pump is rotatably connected to a corrugated hose, one end of the corrugated hose is rotatably connected to one end of a fixed rod, and the corrugated hose is connected to the flow channel, and an action groove for the movement of the corrugated hose is formed between the side panel and the robot body.

[0020] Furthermore, a mounting surface is formed at the bottom of the mounting rod adjacent to the spray surface, the bristles are fixedly connected to the mounting surface, a diversion chamber is formed inside the mounting rod, a cleaning spray hole is provided on the inner bottom wall of the diversion chamber that passes through the mounting surface, and a second connecting channel is formed on the inner top wall of the diversion chamber.

[0021] Furthermore, the center of the port of the second connecting channel close to the fixing rod and the center of the port of the first connecting channel close to the fixing rod are respectively located at two ends of a diameter of the cross section of the fixing rod.

[0022] Compared with the prior art, this application has the following beneficial effects:

[0023] 1. The proposed multidimensional oscillation fuzzy controller can plan the combined force applied by multiple mooring robots to a ship, adjust the combined force in real time based on the ship's oscillations, and rapidly suppress the oscillations of the moored ship in response to environmental changes. Incorporating an oscillation offset indicator, the proposed multidimensional oscillation fuzzy controller adaptively adjusts the combined force based on the deviation of the ship's oscillations from the desired equilibrium position, effectively avoiding drive saturation and reducing the robot's operating power consumption. This multidimensional oscillation fuzzy controller provides an adaptive solution to the control problem of mooring robots, promoting their application in docking operations.

[0024] 2. A moving assembly is provided to drive the cleaning brush assembly to move and clean the salt deposited on the surface of the solar panel. The output end of the motor drives one of the fixed shafts to rotate, thereby driving the transmission roller on the fixed shaft to rotate, and then driving the transmission belt to move with the cooperation of the other transmission roller, thereby driving the cleaning brush assembly to move around the solar panel, so that the cleaning brush assembly brushes the upper surface of the solar panel in a one-way manner. Compared with the back-and-forth brushing method in the prior art, it can prevent the secondary deposition of salt particles, so that the mooring robot solar unit has the effect of reducing the impact of salt particles on the work of the solar panel.

[0025] 3. Air is injected into the flow channel inside the fixed rod through the cooperation of the air pump and the corrugated hose. When the cleaning brush assembly moves over the solar panel to brush it, the connecting port is connected to the first connecting channel. At this time, the air in the flow channel passes through the connecting port, the first connecting channel, the injection cavity, and the injection hole to blow the surface of the solar panel before the bristles are brushed, blowing away the dust and light pollutants around the salt particles, so as to fully expose the salt particles and improve the cleaning effect of the cleaning brush assembly.

[0026] 4. By setting a rack and a top plate, when the cleaning brush assembly moves under the solar panel, the top plate lifts the rack, and the rack drives the gear to rotate 180 degrees, thereby driving the mounting rod to rotate, and then driving the bristles to move, so that the bristles face downward, and then when it moves under the solar panel, the salt particles mixed in the bristles fall on the inclined surface under their own gravity and are discharged, so that the solar unit of the mooring robot has the effect of self-cleaning of the bristles.

[0027] 5. After the mounting rod is rotated 180 degrees, the second connecting channel is connected to the corresponding connecting port. At this time, the air in the flow channel is ejected along the connecting port, the second connecting channel, the diversion cavity, and the cleaning nozzle. The ejected airflow cleans the bristles when passing through them, and removes the salt particles mixed inside to prevent these salt particles from causing secondary pollution. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 is a flow chart of the present invention;

[0029] Figure 2This is a schematic diagram of the oscillator deviation indicator;

[0030] Figure 3 Schematic diagram of multi-dimensional oscillation fuzzy control;

[0031] Figure 4 It is a schematic diagram of the three-dimensional structure of the present invention;

[0032] Figure 5 Schematic diagram of the three-dimensional structure of the robot body of the present invention;

[0033] Figure 6 For the present invention Figure 5 Schematic diagram of the enlarged structure at A in the middle;

[0034] Figure 7 Schematic diagram of the three-dimensional structure of the cleaning brush assembly of the present invention;

[0035] Figure 8 It is a side view structural schematic diagram of the cleaning brush assembly of the present invention;

[0036] Figure 9 For the present invention Figure 8 Schematic diagram of the cross-sectional structure along line BB;

[0037] Figure 10 For the present invention Figure 8 Schematic diagram of the cross-sectional structure along the CC line;

[0038] Figure 11 This is a schematic cross-sectional view of the cleaning brush assembly of the present invention when it is located at the bottom of the transmission belt;

[0039] Figure 12 It is a schematic cross-sectional view of the mounting rod of the present invention;

[0040] Figure 13 For the present invention Figure 12 Schematic diagram of the enlarged structure at point D in the middle. DETAILED DESCRIPTION

[0041] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0042] Example 1

[0043] A method for suppressing oscillations of a docked ship for a mooring robot comprises the following steps:

[0044] S1. Determine the ship type, draft, and dock shape of the docked ship, draw a three-dimensional model of the ship, and draw a dock model. The three-dimensional dock model includes the dock, ship, ocean, and mooring robot; construct the flow field in the hydrodynamic analysis software and perform frequency domain analysis and time domain analysis.

[0045] S2. Divide the resultant force into restoring force and damping force, and simulate and analyze the effect of these two forces on the suppression of ship oscillation.

[0046] S2.1 Assume that the oscillation and oscillation speed of the ship in the i-th (i = 1, 2, 3, 4, 5, 6) motion mode are expressed as x i and The restoring force exerted by the moored robot is

[0047]

[0048] Among them, p ii is the restoring force coefficient, is the equilibrium position.

[0049] S2.2 In the i-th motion mode of the ship, the damping force applied by the mooring robot is:

[0050]

[0051] Among them, d ii is the damping force coefficient.

[0052] S2.3 In the i-th motion mode of the ship, the net force exerted by the mooring robot is:

[0053]

[0054] S2.4 The net force exerted by the mooring robot is:

[0055]

[0056] Where P = diag(p 11 ,p 22 ,p 33 ,p 44 ,p 55 ,p 66 ), D = diag(d 11 ,d 22 ,d 33 ,d 44 ,d 55 ,d 66 ), x=[x1,x2,x3,x4,x5,x6] T ,

[0057] S3. Based on the characteristics of ship mooring operations, an oscillation offset index is proposed to describe the real-time oscillation characteristics of moored ships.

[0058] S3.1 To describe the deviation of a moored vessel’s oscillations from the desired equilibrium position, the oscillation deviation index is used:

[0059]

[0060] Among them, |x i | represents the absolute value of the movement or rotation of the moored ship in the i-th mode, is a positive constant, indicating the expected oscillation range.

[0061] S4. Using fuzzy mathematics, fuzzy reasoning rules are established based on the simulation effect of ship oscillation suppression. The reasoning logic for mapping the oscillation offset index to the restoring force and damping force is constructed. The restoring force fuzzy controller and the damping force fuzzy controller are established. The two are combined to obtain a single-dimensional oscillation fuzzy controller.

[0062] S4.1 In order to establish the mapping from the i-th oscillation deviation index to the damping force in direction i, the i-th oscillation deviation index λ i is the first input variable, and its change Δλ i As the second input variable and the change of the damping force coefficient as the output, the i-th modal damping force fuzzy controller is established.

[0063] Input and output fuzzification is achieved through membership functions. For two input variables, n (no less than three) linguistic variables or membership functions are given respectively. For the only output variable, m (no less than three) linguistic variables or membership functions are given. The membership functions can be selected as follows:

[0064] μ A (X) = [1 + exp (-γ A (Xa A ))] -1

[0065] Where X represents the input variable a * , input variable b * Or output variable c * , a * By input λ i Multiply by the fuzzification coefficient k Ai Get, b * By input Δλ i Multiply by the fuzzification coefficient k Bi Get, γ A Determine the shape of the membership function, a A Determine the position of the center line of the membership function on the horizontal axis. Or sigmoid function:

[0066] μ B (X) = exp(-5.25(Xa B ) 2 / (γ B ) 2 )

[0067] Among them, γ B Determine the shape of the membership function, a B Determine the position of the center line of the membership function on the horizontal axis. Adjust the parameters to ensure that the membership function is symmetrical and evenly distributed.

[0068] S4.2 Inference rules can be expressed as "If the first input belongs to the j1th membership function, and if the second input belongs to the j2th membership function, then the output belongs to the j3th membership function." Based on the simulation results, n*m inference rules were designed: when the moored vessel oscillates beyond the expected oscillation range or shows a tendency to do so, the damping force coefficient is increased; when the moored vessel approaches equilibrium or shows a tendency to do so, the damping force coefficient is decreased.

[0069] S4.3 Each inference rule changes the shape of the corresponding output membership function:

[0070] w=μ j1 (a * )∧μ j2 (b * )

[0071]

[0072] ∧ means taking the smallest value, 0≤w≤1. All the rules together change the shape of the output membership function. By selecting the maximum value of the membership function under various shapes at each point in the domain, the final result of the output membership function is obtained.

[0073] μ(c * )=∪μ j3 (c * )

[0074] By using the centroid method to perform defuzzification, the clear value of the fuzzy output can be obtained.

[0075]

[0076] The output of the fuzzy controller for the i-th modal damping force is obtained as:

[0077]

[0078] in, is the magnification factor, is the damping force coefficient of the current control cycle.

[0079] S4.4 Construction of restoring force fuzzy controller: Construct the i-th modal restoring force fuzzy controller according to the design process of the i-th modal damping force fuzzy controller introduced in S4.1 to S4.3.

[0080] S4.5 Construction of restoring force fuzzy controller: The restoring force fuzzy controller of the i-th mode and the damping force fuzzy controller of the i-th mode are combined to obtain the single-dimensional oscillation fuzzy controller of the i-th mode.

[0081] Construction of S5 multi-dimensional oscillation fuzzy controller: According to the vibration reduction requirements of the ship's six-degree-of-freedom motion, single-dimensional oscillation fuzzy controllers on different modes are used together to obtain a multi-dimensional oscillation fuzzy controller.

[0082] Example 2

[0083] A mooring robot includes a robot body 10, a robotic arm arranged on the surface of the robot body 10, and a robotic hand arranged at the end of the robotic arm. A movable base 11 is arranged at the bottom of the robot body 10, and an inclined surface 3 is formed on the top of the robot body 10. The upper surface of the inclined surface 3 is fixedly connected to a vertical plate 4, one side of the vertical plate 4 is rotatably connected to two fixed shafts 5, one end of the fixed shaft 5 is rotatably connected to a side plate 6, the vertical plate 4 and the side plate 6 are fixedly connected to the same connecting plate 28, the opposite surfaces of the vertical plate 4 and the side plate 6 are fixedly connected to the same mounting frame 7, the inner wall of the mounting frame 7 is fixedly connected to a solar panel 8, two groups of moving components 9 are fixedly connected to the surface of the fixed shaft 5, the two groups of moving components 9 are fixedly connected to the same cleaning brush assembly 1, and a driving part 2 is arranged in the cleaning brush assembly 1. The driving part 2 can drive the cleaning brush assembly 1 to rotate 180 degrees when the cleaning brush assembly 1 moves to the bottom of the moving component 9.

[0084] Each group of moving components 9 includes two transmission rollers 901, and the two transmission rollers 901 are fixedly connected to the surfaces of two fixed shafts 5 respectively. The surfaces of the two transmission rollers 901 are provided with the same transmission belt 902, and the two transmission rollers 901 are connected through the transmission belt 902. The cleaning brush assembly 1 is fixedly connected to the top of the surface of the transmission belt 902, and the rear side of the vertical plate 4 is fixedly connected to the motor 903, and the output end of the motor 903 is fixedly connected to one end of one of the fixed shafts 5.

[0085] The cleaning brush assembly 1 includes a fixed block 101 fixedly connected to the top of the surface of the transmission belt 902, and the opposite surfaces of the two fixed blocks 101 are fixedly connected to the same fixed rod 102. The surface of the fixed rod 102 is rotatably connected to the same mounting rod 103, and the bottom of the mounting rod 103 is fixedly connected to the bristles 104.

[0086] Specifically, a moving assembly 9 is provided to drive the cleaning brush assembly 1 to move and clean salt deposited on the surface of the solar panel 8. The output end of the motor 903 drives one of the fixed shafts 5 to rotate, thereby driving the transmission roller 901 on the fixed shaft 5 to rotate. In turn, with the cooperation of the other transmission roller 901, the transmission belt 902 is driven to move, thereby driving the cleaning brush assembly 1 to move around the solar panel 8. The cleaning brush assembly 1 brushes the upper surface of the solar panel 8 in a one-way manner. Compared with the back-and-forth brushing method in the prior art, it can prevent the secondary deposition of salt particles, thereby reducing the impact of salt particles on the operation of the solar panel 8. When the system robot is in operation, it first senses the surrounding environment through a sensor system. Visual sensors and laser radar devices scan the area around the dock and ship to obtain environmental images and distance information. Using this information, the robot can determine its own position in the working area and identify the positions of targets such as mooring piles and ship cable fixing points; then, based on the target position and its own current position, the control system performs path planning; when the robot moves near the mooring pile or ship cable fixing point, the robotic arm begins the mooring operation. This is existing technology and will not be described in detail here. The robotic arm and manipulator are not shown in the figure.

[0087] A groove is provided on the surface of the mounting rod 103, and the driving part 2 includes a gear 201 fixedly connected to the inner wall of the groove. The gear 201 is rotatably connected to the surface of the fixing rod 102. A sliding groove is provided on the inner bottom wall of the groove, and a rack 202 is provided on the inner wall of the sliding groove. A spring 203 is fixedly connected to the inner bottom wall of the sliding groove, and one end of the spring 203 is fixedly connected to the rack 202, and the rack 202 is engaged with the gear 201.

[0088] The upper surface of the inclined surface 3 is fixedly connected to a top plate 12 corresponding to the rack 202, and an avoidance groove 13 is opened on the surface of the mounting rod 103. A torsion spring 14 is arranged in the avoidance groove 13. The torsion spring 14 is sleeved on the surface of the fixed rod 102, and one end of the torsion spring 14 is fixedly connected to the inner bottom wall of the avoidance groove 13, and the other end of the torsion spring 14 is fixedly connected to the surface of the fixed rod 102.

[0089] Specifically, by setting the rack 202 and the top plate 12, when the cleaning brush assembly 1 moves to the bottom of the solar panel 8, the top plate 12 lifts the rack 202, and the rack 202 drives the gear 201 to rotate 180 degrees, thereby driving the mounting rod 103 to rotate, and thereby driving the bristles 104 to move, so that the bristles 104 face downward, and then when it moves under the solar panel 8, the salt particles mixed in the bristles 104 fall on the inclined surface 3 under their own gravity and are discharged, so that the mooring robot solar unit has the effect of self-cleaning of the bristles 104, and by setting the torsion spring 14, when the cleaning brush assembly 1 moves above the solar panel 8, the torsion spring 14 drives the mounting rod 103 to reset to ensure that the bristles 104 are in contact with the solar panel 8, thereby ensuring the cleaning effect.

[0090] An injection surface 15 is formed at the bottom of the mounting rod 103, an injection chamber 16 is formed inside the mounting rod 103, an injection hole 17 is opened on the injection surface 15 and passes through the injection chamber 16, a flow channel 27 is formed inside the fixing rod 102, a connecting port 18 is opened on the surface of the fixing rod 102 and passes through the flow channel 27, and a first connecting channel 19 connecting the connecting port 18 and the injection chamber 16 is formed inside the mounting rod 103.

[0091] A cavity 20 is formed on the front of the robot body 10, and an air pump 21 is fixedly connected to the inner bottom wall of the cavity 20. The air outlet end of the air pump 21 is rotatably connected to a corrugated hose 22. One end of the corrugated hose 22 is rotatably connected to one end of the fixed rod 102, and the corrugated hose 22 is connected to the flow channel 27. A movement groove for the movement of the corrugated hose 22 is formed between the side panel 6 and the robot body 10.

[0092] Specifically, air is injected into the flow channel 27 inside the fixed rod 102 through the cooperation of the air pump 21 and the corrugated hose 22. When the cleaning brush assembly 1 moves above the solar panel 8 to brush it, the connecting port 18 is connected to the first connecting channel 19. At this time, the air in the flow channel 27 passes through the connecting port 18, the first connecting channel 19, the injection chamber 16, and the injection hole 17 to spray and blow the surface of the solar panel 8 before the bristles 104 brush it, blowing away the dust and light pollutants around the salt particles, so as to fully expose the salt particles and improve the cleaning effect of the cleaning brush assembly 1.

[0093] The bottom of the mounting rod 103 and the part adjacent to the injection surface 15 form a mounting surface 23, the bristles 104 are fixedly connected to the mounting surface 23, and a diversion chamber 24 is formed inside the mounting rod 103. The inner bottom wall of the diversion chamber 24 is provided with a cleaning spray hole 25 that passes through the mounting surface 23, and the inner top wall of the diversion chamber 24 is formed with a second connecting channel 26.

[0094] The center of the end of the second connecting channel 26 close to the fixing rod 102 and the center of the end of the first connecting channel 19 close to the fixing rod 102 are respectively located at two ends of a diameter of the cross section of the fixing rod 102 .

[0095] Specifically, after the mounting rod 103 rotates 180 degrees, the second connecting channel 26 is connected to the connecting port 18. At this time, the air in the flow channel 27 is ejected along the connecting port 18, the second connecting channel 26, the diversion cavity 24, and the cleaning nozzle 25. The ejected airflow cleans the bristles 104 when passing through the bristles 104, and removes the salt particles mixed inside to prevent these salt particles from causing secondary pollution.

[0096] Working Principle: When the mooring robot is in use, its sensor system first senses the surrounding environment. Vision sensors and lidar devices scan the area around the dock and ship, acquiring images and distance information. Using this information, the robot determines its position within the work area and identifies the locations of targets such as mooring piles and ship cable anchors. The control system then plans a path based on the target location and the robot's current position. Once the robot moves near a mooring pile or ship cable anchor, it secures the robot and the robotic arm begins mooring operations. Meanwhile, the solar panels 8 convert solar energy into electricity for storage and later use.

[0097] When too many salt particles are deposited on the solar panel 8 and affect its operation, the motor 903 is started. The output end of the motor 903 drives one of the fixed shafts 5 to rotate, which in turn drives the transmission roller 901 on the fixed shaft 5 to rotate. The transmission belt 902 is driven by the cooperation of the other transmission roller 901 to move. The transmission belt 902 drives the cleaning brush assembly 1 to move around the solar panel 8, so that the cleaning brush assembly 1 can unidirectionally clean the upper surface of the solar panel 8 and prevent the secondary deposition of salt particles.

[0098] When the cleaning brush assembly 1 moves to under the solar panel 8, the top plate 12 lifts the rack 202, and the rack 202 drives the gear 201 to rotate 180 degrees. The gear 201 drives the mounting rod 103 to rotate, and the mounting rod 103 drives the bristles 104 to move, so that the bristles 104 face downward. As the cleaning brush assembly 1 moves under the solar panel 8, the salt particles contained in the bristles 104 fall onto the inclined surface 3 under their own gravity and are discharged.

[0099] During this process, the air pump 21 is started, and the air pump 21 cooperates with the corrugated hose 22 to inject air into the flow channel 27 inside the fixed rod 102. When the cleaning brush assembly 1 moves over the solar panel 8 to brush it, the connecting port 18 is connected to the first connecting channel 19. At this time, the air in the flow channel 27 passes through the connecting port 18, the first connecting channel 19, the injection cavity 16, and the injection hole 17 to spray and purge the surface of the solar panel 8 before the bristles 104 brush, blowing away the dust and light pollutants around the salt particles so as to fill the solar panel 8 with air. The cleaning brush assembly 1 is exposed to salt particles, thereby improving the cleaning effect of the cleaning brush assembly 1. When the cleaning brush assembly 1 moves under the solar panel 8, that is, after the mounting rod 103 rotates 180 degrees, the second connecting channel 26 is correspondingly connected to the connecting port 18. At this time, the air in the flow channel 27 is ejected along the connecting port 18, the second connecting channel 26, the diversion cavity 24, and the cleaning nozzle 25. When the ejected airflow passes through the bristles 104, it cleans the bristles 104 and removes the salt particles entrained therein, thereby preventing these salt particles from causing secondary pollution.

[0100] This enables the mooring robot to reduce the impact of salt particles on the work of solar panels.

Claims

1. A method for suppressing oscillation of a ship docked at a dock for a mooring robot, characterized in that: The steps include: S1. Determine the ship type, draft, and dock shape of the docked ship, draw a three-dimensional model of the ship, and draw a dock model, where the three-dimensional dock model includes the dock, ship, ocean, and mooring robot; construct the flow field in the hydrodynamic analysis software, and perform frequency domain analysis and time domain analysis; S2. Divide the resultant force into restoring force and damping force, and simulate and analyze the suppression effect of the two forces on ship oscillation; S3. Based on the characteristics of ship mooring operations, an oscillation offset index is proposed to describe the real-time oscillation characteristics of moored ships; S4. Using fuzzy mathematics, fuzzy reasoning rules are established based on the simulation effect of ship oscillation suppression, and the mapping reasoning logic from oscillation offset index to restoring force and damping force is constructed. The restoring force fuzzy controller and the damping force fuzzy controller are established, and the two are combined to obtain a single-dimensional oscillation fuzzy controller; Construction of S5 multi-dimensional oscillation fuzzy controller: According to the vibration reduction requirements of the ship's six-degree-of-freedom motion, single-dimensional oscillation fuzzy controllers on different modes are used together to obtain a multi-dimensional oscillation fuzzy controller.

2. A mooring robot, comprising a robot body (10), a mechanical arm arranged on the surface of the robot body (10), and a mechanical hand arranged at the end of the mechanical arm, wherein a movable base (11) is arranged at the bottom of the robot body (10), characterized in that: The top of the robot body (10) is formed with an inclined surface (3), the upper surface of the inclined surface (3) is fixedly connected to a vertical plate (4), one side of the vertical plate (4) is rotatably connected to two fixed shafts (5), one end of the fixed shaft (5) is rotatably connected to a side plate (6), the vertical plate (4) and the side plate (6) are fixedly connected to the same connecting plate (28), and the opposite surfaces of the vertical plate (4) and the side plate (6) are fixedly connected to the same mounting frame (7).

3. A mooring robot as claimed in claim 2, characterized in that: The inner wall of the installation frame (7) is fixedly connected to a solar panel (8); the surface of the fixed shaft (5) is respectively fixedly connected to two groups of moving components (9); the two groups of moving components (9) are fixedly connected to the same cleaning brush component (1); a driving unit (2) is arranged inside the cleaning brush component (1); the driving unit (2) can drive the cleaning brush component (1) to rotate 180 degrees when the cleaning brush component (1) moves to the bottom of the moving component (9).

4. A mooring robot as claimed in claim 3, characterized in that: Each group of the moving components (9) comprises two transmission rollers (901), the two transmission rollers (901) are respectively fixedly connected to the surfaces of the two fixed shafts (5), the surfaces of the two transmission rollers (901) are provided with a same transmission belt (902), the two transmission rollers (901) are connected in transmission via the transmission belt (902), the cleaning brush component (1) is fixedly connected to the top of the surface of the transmission belt (902), the rear side of the vertical plate (4) is fixedly connected to a motor (903), and the output end of the motor (903) is fixedly connected to one end of one of the fixed shafts (5).

5. A mooring robot as claimed in claim 4, characterized in that: The cleaning brush assembly (1) comprises a fixed block (101) fixedly connected to the top of the surface of the transmission belt (902); the opposite surfaces of the two fixed blocks (101) are fixedly connected to the same fixed rod (102); the surface of the fixed rod (102) is rotatably connected to the same mounting rod (103); and the bottom of the mounting rod (103) is fixedly connected to brush bristles (104).

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