Unmanned opposite barge operation device and method and supply ship

Abstract

The invention provides an unmanned opposite barge operation device and method and a supply ship, and relates to the technical field of seaborne supply. The device comprises a hoisting mechanism, a pose adjusting mechanism, a grabbing mechanism and a pose sensing mechanism, the hoisting mechanism is used for being arranged on the supply ship, and a suspension arm of the hoisting mechanism, the pose adjusting mechanism and the grabbing mechanism are sequentially connected; the pose sensing mechanism comprises a visual sensing structure and a supporting leg sensing structure, and the visual sensing structure is arranged on at least one of the suspension arm, the pose adjusting mechanism and the grabbing mechanism and used for obtaining image information about the relative pose of the material receiving mechanism arranged on the deck of the receiving ship and the grabbing mechanism; the supporting leg sensing structure is arranged on the grabbing mechanism and used for obtaining relative pose change information of the grabbing mechanism and the deck of the receiving ship or the material receiving mechanism when making contact with the deck of the receiving ship. According to the invention, the automation and intelligence level of the offshore barge task is improved, the dependence on manual operation is reduced, and the material transfer accuracy is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of marine replenishment, and in particular to an unmanned barge operation device, method and supply ship. Background Art

[0002] The maritime barge mission refers to the operational process of safely transferring materials or personnel from a supply ship to a receiving ship in a maritime environment. It is commonly seen in scenarios such as maritime replenishment, energy transfer, equipment maintenance, and emergency rescue. It is of great significance to ensure the continuity and efficiency of the receiving ship's maritime operations.

[0003] At present, most of the tasks of barging at sea are carried out with manual assistance. For example, during the replenishment of materials, the operator operates the crane on the supply ship to transfer the materials to the target location on the deck of the receiving ship. However, due to the complexity and variability of the situation at sea, it is easy to interfere with the operators, thus affecting the smooth progress of the task of barging at sea. Summary of the invention

[0004] The problem solved by the present invention is: how to improve the automation and intelligence level of the barge task, reduce the dependence on manual operation, and improve the accuracy of material transfer.

[0005] In order to solve the above problems, the present invention provides an unmanned barge operation device, method and supply ship.

[0006] In a first aspect, the present invention provides an unmanned barge-to-barge operation device, comprising a lifting mechanism, a posture adjustment mechanism, a gripping mechanism and a posture sensing mechanism, wherein the lifting mechanism is used to be arranged on a supply ship, and the lifting arm of the lifting mechanism, the posture adjustment mechanism and the gripping mechanism are connected in sequence; the posture sensing mechanism comprises a visual sensing structure and a leg sensing structure, wherein the visual sensing structure is arranged on at least one of the lifting arm, the posture adjustment mechanism and the gripping mechanism, and is used to obtain image information about the relative posture of a material receiving mechanism arranged on the deck of the receiving ship and the gripping mechanism; the leg sensing structure is arranged on the gripping mechanism, and is used to obtain relative posture change information between the gripping mechanism and the deck of the receiving ship when in contact with the deck of the receiving ship, or to obtain relative posture change information between the gripping mechanism and the material receiving mechanism when in contact with the material receiving mechanism.

[0007] Optionally, the grasping mechanism includes an end platform connected to the posture adjustment mechanism, and a clamping structure arranged on the side of the end platform away from the posture adjustment mechanism; the leg sensing structure includes an angle monitoring structure, a displacement monitoring structure and a telescopic leg structure rotatably connected to the end platform, the angle monitoring structure is arranged at the rotational connection between the end platform and the telescopic leg structure, and is used to monitor the angle change information of the telescopic leg structure relative to the end platform; the displacement monitoring structure is arranged on the telescopic leg structure, and is used to monitor the length change information of the telescopic leg structure.

[0008] Optionally, the telescopic leg structure includes a rotating sub-component, a first telescopic rod, a second telescopic rod and a connecting support structure, the rotating sub-component is rotatably connected to the end platform, one end of the first telescopic rod is rotatably connected to the rotating sub-component, one end of the second telescopic rod is rotatably connected to the rotating sub-component, and the other end of the first telescopic rod is rotatably connected to the other end of the second telescopic rod through the connecting support structure; and the rotation axis of the first telescopic rod and the rotating sub-component, the rotation axis of the second telescopic rod and the rotating sub-component, and the rotation axis of the first telescopic rod and the connecting support structure are parallel to each other and are all perpendicular to the rotation axis of the rotating sub-component and the end platform; the rotation axis of the second telescopic rod and the connecting support structure coincides with the rotation axis of the first telescopic rod and the connecting support structure; the angle monitoring structure is arranged at the rotation connection between the rotating sub-component and the end platform, and the displacement monitoring structure includes a first displacement monitoring structure and a second displacement monitoring structure, the first displacement monitoring structure is arranged on the first telescopic rod, and the second displacement monitoring structure is arranged on the second telescopic rod.

[0009] Optionally, the telescopic leg structure further includes an adsorption structure, which is arranged at one end of the connecting support structure away from the posture adjustment mechanism; and the rotation axis of the first telescopic rod and the connecting support structure is perpendicular to the axis of the adsorption structure.

[0010] Optionally, the telescopic leg structure further includes a position sensing structure corresponding to the material receiving mechanism, and the position sensing structure is arranged on at least one of the adsorption structure and the connection support structure.

[0011] Optionally, the posture sensing mechanism includes at least three leg sensing structures whose arrangement positions are not collinear on the grasping mechanism.

[0012] In a second aspect, the present invention further provides a supply ship, comprising the unmanned barge operation device as described in the first aspect.

[0013] In a third aspect, the present invention further provides an unmanned barge operation method, based on the unmanned barge operation device as described in the first aspect; the unmanned barge operation method comprises:

[0014] Grab the supplies on the supply ship through the grabbing mechanism;

[0015] Drive the boom of the lifting mechanism so that the posture adjustment mechanism and the grabbing mechanism move to the top of the material receiving mechanism;

[0016] The boom and / or the posture adjustment mechanism are driven until the grasping mechanism is lowered to the point where the adsorption structure of the telescopic leg structure of the leg sensing structure is adsorbed on a target area corresponding to the material receiving mechanism; wherein the target area is located on the material receiving mechanism, or is located on the deck of the receiving ship in the area where the material receiving mechanism is located;

[0017] Acquire the operating parameters of the telescopic leg structure in real time, and determine the relative position change information of the grabbing mechanism and the material receiving mechanism according to the operating parameters;

[0018] According to the relative posture change information, control at least one of the boom and the posture adjustment mechanism to perform follow-up compensation on the grasping mechanism, dock the grasping mechanism with the material receiving mechanism, and transfer the supply materials to the material receiving mechanism.

[0019] Optionally, the step of driving the boom and / or the posture adjustment mechanism until the grasping mechanism descends to the adsorption structure of the telescopic leg structure of the leg sensing structure and adsorbs on the target area corresponding to the material receiving mechanism comprises:

[0020] Based on the visual perception structure of the posture perception mechanism, image information about the relative posture of the grasping mechanism and the target area is obtained;

[0021] According to the image information, driving the boom and / or the posture adjustment mechanism to make the grasping mechanism descend toward the target area;

[0022] When the grasping mechanism descends until the adsorption structure falls on the target area, the adsorption structure is controlled to perform adsorption on the target area.

[0023] Optionally, the operating parameters include a length change amount, a length change speed, and a length change acceleration of the telescopic leg structure, and an angle change amount, an angle change speed, and an angle change acceleration of the telescopic leg structure relative to the grasping mechanism;

[0024] The determining of the relative posture change information between the grasping mechanism and the material receiving mechanism according to the operating parameters includes:

[0025] Determining a first relative position of the material receiving mechanism relative to the grasping mechanism according to the length change and the angle change;

[0026] Predicting a second relative posture of the material receiving mechanism relative to the grasping mechanism according to the first relative posture, the length change speed, the length change acceleration, the angle change speed, and the angle change acceleration;

[0027] The controlling at least one of the boom and the posture adjustment mechanism to perform follow-up compensation on the grasping mechanism according to the relative posture change information, docking the grasping mechanism with the material receiving mechanism, and transferring the supply material to the material receiving mechanism comprises:

[0028] Control at least one of the boom and the posture adjustment mechanism, perform follow-up compensation on the grasping mechanism based on the second relative posture, dock the grasping mechanism with the material receiving mechanism, and transfer the supply material to the material receiving mechanism.

[0029] The beneficial effects of an unmanned barge operation device, method and supply ship of the present invention are as follows: the unmanned barge operation device of the present invention significantly improves the automation and intelligence level of the barge task, can realize unmanned barge automation operation, reduces the dependence on manual operation, and improves the accuracy of material transfer. Specifically, by setting a crane, the vertical lifting and horizontal swinging capabilities of materials are provided. By setting a posture adjustment mechanism, the boom of the lifting mechanism and the grasping mechanism are connected, and are used to adjust the position and posture of the grasping mechanism. By setting a grasping mechanism, materials are grasped and held tightly during the material transfer process to ensure the smooth progress of material supply. By setting a posture sensing mechanism, it is used to realize accurate perception and feedback control of key position information under dynamic sea conditions, wherein the visual perception structure of the posture sensing mechanism is installed on at least one of the boom, posture adjustment mechanism and grasping mechanism, so as to obtain image information about the relative posture of the grasping mechanism and the material receiving mechanism or the receiving ship deck in real time, thereby providing global perception capability for the unmanned barge operation device for unmanned barge operation; the leg sensing structure of the posture sensing mechanism can perceive the relative posture change information of the grasping mechanism and the material receiving mechanism or the receiving ship deck in real time when contacting the receiving ship deck or the material receiving mechanism, so as to realize the perception of high-frequency movement or subtle displacement, and make up for the deficiency that the visual perception structure is easily affected by light and occlusion. Moreover, the above-mentioned image information and relative posture change information can be used as input of the lifting mechanism and the posture adjustment mechanism, guiding the lifting mechanism and the posture adjustment mechanism to dynamically adjust the position and posture of the grasping mechanism, ensuring that the automatic docking of the grasping mechanism and the material receiving mechanism can still be accurately completed under complex sea conditions, thereby ensuring the smooth supply of materials and the efficient completion of the unmanned barge task at sea. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 This is a schematic diagram of the structure in which a supply ship supplies materials to a receiving ship in an embodiment of the present invention;

[0031] Figure 2 for Figure 1 A partial enlarged view of the middle A;

[0032] Figure 3 It is a structural schematic diagram of a grabbing mechanism in an embodiment of the present invention;

[0033] Figure 4 for Figure 3 A partial enlarged view of point B in the middle;

[0034] Figure 5 A schematic diagram of a structure of a leg sensing structure in an embodiment of the present invention;

[0035] Figure 6 A schematic diagram of a structure of a leg sensing structure in an embodiment of the present invention;

[0036] Figure 7 A schematic diagram of a flow chart of an unmanned barge operation method according to an embodiment of the present invention;

[0037] Figure 8 Schematic diagram of a sub-flow chart of step 300 in an embodiment of the present invention.

[0038] Reference numerals:

[0039] 1. Lifting mechanism; 11. Boom; 2. Posture adjustment mechanism; 3. Grasping mechanism; 31. End platform; 32. Clamping structure; 4. Posture sensing mechanism; 41. Visual sensing structure; 42. Leg sensing structure; 421. Angle monitoring structure; 422. Displacement monitoring structure; 423. Telescopic leg structure; 423a. Rotating auxiliary component; 423b. First telescopic rod; 423c. Second telescopic rod; 423d. Connecting support structure; 423e. Adsorption structure; 5. Supply ship; 6. Receiving ship; 7. Supply materials. DETAILED DESCRIPTION

[0040] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0041] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein.

[0042] Combination Figure 1 , Figure 2 As shown, an embodiment of the present invention provides an unmanned barge operation device, including a lifting mechanism 1, a posture adjustment mechanism 2, a gripping mechanism 3 and a posture sensing mechanism 4, wherein the lifting mechanism 1 is used to be arranged on a supply ship 5, and the lifting arm 11, the posture adjustment mechanism 2 and the gripping mechanism 3 of the lifting mechanism 1 are connected in sequence; the posture sensing mechanism 4 includes a visual sensing structure and a leg sensing structure 41, the visual sensing structure is arranged on at least one of the lifting arm 11, the posture adjustment mechanism 2 and the gripping mechanism 3, and is used to obtain image information about the relative posture of a material receiving mechanism 7 and the gripping mechanism 3 arranged on the deck of the receiving ship 6; the leg sensing structure 41 is arranged on the gripping mechanism 3, and is used to obtain relative posture change information between the gripping mechanism 3 and the deck of the receiving ship 6 when in contact with the deck of the receiving ship 6, or to obtain relative posture change information between the gripping mechanism 3 and the material receiving mechanism 7 when in contact with the material receiving mechanism 7.

[0043] In this embodiment, the unmanned barge operation device is used to be set on the supply ship 5, specifically for automatically transferring the corresponding supply materials 8 from the supply ship 5 to the receiving ship 6, so as to realize an efficient, stable, safe, accurate, automated and intelligent material transportation process (i.e., the barge process).

[0044] Specifically, the lifting mechanism 1 of the unmanned barge operation device is a lifting machine (such as a jib crane) with a boom 11 installed on the supply ship 5 to ensure the smooth transfer of materials between the supply ship 5 and the receiving ship 6. For example, when the supply ship 5 and the receiving ship 6 are replenished side by side, the jib crane can cross the guardrails of the supply ship 5 and the receiving ship 6 to smoothly transfer the materials on the supply ship 5 to the corresponding position of the receiving ship 6, thereby realizing the material replenishment of the receiving ship 6. The grasping mechanism 3 is used to grasp and hold the materials during the material transfer process to ensure the smooth progress of the material replenishment (or barge task). For example, the grasping mechanism 3 adopts a clamping structure 32 such as a manipulator, which can automatically adjust the grasping force and method according to the different shapes and materials of the materials. The boom 11, the posture adjustment mechanism 2 and the grasping mechanism 3 of the lifting mechanism 1 are connected in sequence, that is, the posture adjustment mechanism 2 is used to connect the boom 11 of the lifting mechanism 1 and the grasping mechanism 3, wherein the lifting mechanism 1 is used to provide the vertical lifting and horizontal swinging capabilities of the posture adjustment mechanism 2 and the grasping mechanism 3, providing a hardware basis for accurately transferring the supply materials 8 to the target position on the receiving ship 6; the posture adjustment mechanism 2 is used to adjust the specific position and posture of the grasping mechanism 3. For example, the posture adjustment mechanism 2 adopts a six-degree-of-freedom robot such as a rope-driven parallel robot or a STEWART parallel robot, which supports the adjustment of the six degrees of freedom (i.e. vertical lifting, horizontal front and rear displacement, horizontal left and right displacement, pitch, yaw, and roll) of the position and posture of the grasping mechanism 3, thereby improving the ability of the unmanned barge operation device to cope with complex and changeable sea conditions, and ensuring that the grasping mechanism 3 can stably grasp and accurately release materials to the target position on the receiving ship 6 under dynamic sea conditions.

[0045] Based on the fact that the unmanned docking operation device includes a lifting mechanism 1, a posture adjustment mechanism 2 and a grasping mechanism 3, in order to improve the automation and intelligence level of the offshore docking task, the unmanned docking operation device also includes a posture sensing mechanism 4 for at least real-time sensing of the relative posture between the grasping mechanism 3 and the material receiving mechanism 7 or the relative posture between the grasping mechanism 3 and the deck (receiving ship 6) where the material receiving mechanism 7 is located. The posture sensing mechanism 4 includes a visual sensing structure, which is installed on at least one of the boom 11, the posture adjustment mechanism 2 or the grasping mechanism 3, and can be used to obtain image information about the relative posture of the supply ship 5 and the receiving ship 6, and the relative posture of the grasping mechanism 3 and the material receiving mechanism 7 (or the deck where the material receiving mechanism 7 is located) in real time. After analysis and processing, the image information can be used as input to the lifting mechanism 1 and the posture adjustment mechanism 2, so as to dynamically adjust the position and posture of the grasping mechanism 3 through the lifting mechanism 1 and the posture adjustment mechanism 2, so as to ensure that the docking of the grasping mechanism 3 and the material receiving mechanism 7 can still be accurately completed under complex sea conditions, and ensure the smooth supply of materials. At the same time, considering that the visual perception structure depends on the field of view of the image acquisition structure such as the camera, when the imaging effect is affected by occlusion or external environment (such as bad weather, insufficient light), it may not be able to provide accurate position information, and considering that there may be risks in relying on only a single perception means in key operation tasks, therefore, in order to further improve the stability and reliability of the unmanned barge operation device, the posture perception mechanism 4 also includes a leg perception structure 41, which is installed on the grasping mechanism 3. Through contact perception, the grasping mechanism 3 connected to the structure and the deck of the receiving ship 6 or the material receiving mechanism 7 in contact with the structure are obtained in real time. The relative posture change information of the two under the current sea conditions (such as angle deviation, relative displacement in the vertical and horizontal directions, etc.) can also be used as the input of the lifting mechanism 1 and the posture adjustment mechanism 2 after analysis and processing, so as to dynamically adjust the position and posture of the grasping mechanism 3 through the lifting mechanism 1 and the posture adjustment mechanism 2, further ensuring that the docking of the grasping mechanism 3 and the material receiving mechanism 7 can still be accurately completed under complex sea conditions, and ensuring the smooth supply of materials.In this way, on the one hand, by setting up a visual perception structure, the wide-range perception ability of the visual perception structure can be brought into play, and the unmanned rendezvous operation device can be provided with a global perception ability for unmanned rendezvous operations; on the other hand, the outrigger sensing structure 41 obtains position information by directly contacting the deck or the material receiving mechanism 7, without relying on optical imaging, and is therefore not affected by light, obstructions or sea conditions, and the outrigger sensing structure 41 can capture the dynamic changes of vibration, tilt angle, etc. of the deck or the material receiving mechanism 7 in real time, making up for the deficiencies of the visual perception structure in high-frequency motion or fine displacement detection, and by setting up the outrigger sensing structure 41, it is possible to ensure the accurate docking of the grasping mechanism 3 and the material receiving mechanism 7, and enhance the ability of the unmanned rendezvous operation device to cope with complex sea conditions; on the other hand, by combining the visual perception structure and the outrigger sensing structure 41, it is convenient to realize multi-source information fusion and collaborative perception in complex environments, and even if a certain sensing means fails, the continuity and safety of the rendezvous operation can still be maintained through another sensing means.

[0046] In this way, the unmanned barge operation device significantly improves the automation and intelligence level of the barge task, can realize unmanned barge automation operation, reduce the dependence on manual operation, and improve the accuracy of material transfer. Specifically, by setting a crane, the vertical lifting and horizontal swinging capabilities of materials are provided. By setting a posture adjustment mechanism 2, the boom 11 of the lifting mechanism 1 is connected with the grasping mechanism 3, and is used to adjust the position and posture of the grasping mechanism 3. By setting the grasping mechanism 3, the materials are grasped and held tightly during the material transfer process to ensure the smooth progress of material replenishment. By setting up a posture sensing mechanism 4, it is used to realize accurate perception and feedback control of key position information under dynamic sea conditions, wherein the visual perception structure of the posture sensing mechanism 4 is installed on at least one of the boom 11, the posture adjustment mechanism 2 and the grasping mechanism 3, so as to obtain image information about the relative posture of the grasping mechanism 3 and the material receiving mechanism 7 or the deck of the receiving ship 6 in real time, thereby providing global perception capability for the unmanned rendezvous operation device for unmanned rendezvous operation; the leg sensing structure 41 of the posture sensing mechanism 4 can realize the perception of high-frequency motion or subtle displacement by sensing the relative posture change information between the grasping mechanism 3 and the material receiving mechanism 7 or the deck of the receiving ship 6 or the material receiving mechanism 7 in real time when contacting the deck of the receiving ship 6 or the material receiving mechanism 7, thereby making up for the deficiency that the visual perception structure is easily affected by light and occlusion. Moreover, the above-mentioned image information and relative posture change information can be used as input to the lifting mechanism 1 and the posture adjustment mechanism 2 to guide the lifting mechanism 1 and the posture adjustment mechanism 2 to dynamically adjust the position and posture of the grasping mechanism 3, ensuring that the grasping mechanism 3 and the material receiving mechanism 7 can still be accurately connected in complex sea conditions, thereby ensuring the smooth supply of materials and the efficient completion of unmanned rendezvous tasks at sea.

[0047] Optionally, combined Figure 1-Figure 3As shown, the grasping mechanism 3 includes an end platform 31 connected to the posture adjustment mechanism 2, and a clamping structure 32 arranged on the side of the end platform 31 away from the posture adjustment mechanism 2; the leg sensing structure 41 includes an angle monitoring structure 411, a displacement monitoring structure 412 and a telescopic leg structure 413 rotatably connected to the end platform 31, the angle monitoring structure 411 is arranged at the rotational connection between the end platform 31 and the telescopic leg structure 413, and is used to monitor the angle change information of the telescopic leg structure 413 relative to the end platform 31; the displacement monitoring structure 412 is arranged on the telescopic leg structure 413, and is used to monitor the length change information of the telescopic leg structure 413.

[0048] In this embodiment, the grasping mechanism 3 grasps and holds the supply material 8 through the clamping structure 32, and is connected to the posture adjustment mechanism 2 through the terminal platform 31, that is, the grasping mechanism 3 serves as a carrier of the clamping structure 32, and the posture adjustment mechanism 2, the terminal platform 31 and the clamping structure 32 are connected in sequence; and the clamping structure 32 is on the side of the terminal platform 31 away from the posture adjustment mechanism 2, so as to grasp the supply material 8. In some embodiments, the terminal platform 31 can adopt a cubic structure or a frame structure.

[0049] In order to ensure that the leg sensing structure 41 accurately senses the relative posture change information between the grasping mechanism 3 and the material receiving mechanism 7 or the deck of the receiving ship 6, the telescopic leg structure 413 whose own length is changeable (telescopic) and rotatably connected to the terminal platform 31 of the grasping mechanism 3 can be used. By monitoring the dynamic changes of the telescopic leg structure 413 when the telescopic leg structure 413 contacts the material receiving mechanism 7 or the deck of the receiving ship 6, such as monitoring the parameters such as the length change information and angle change information of the telescopic leg structure 413 itself, the relative posture change information between the terminal platform 31 (or the grasping mechanism 3, the clamping structure 32) and the material receiving mechanism 7 or the deck of the receiving ship 6 can be determined according to these parameters, thereby guiding the lifting mechanism 1 and the posture adjustment mechanism 2 to dynamically adjust the position and posture of the terminal platform 31, ensuring that the clamping structure 32 set on the terminal platform 31 and the material receiving mechanism 7 can still be accurately connected in complex sea conditions, thereby ensuring the smooth supply of materials and the efficient completion of unmanned barge missions at sea.

[0050] Specifically, the leg sensing structure 41 includes an angle monitoring structure 411, a displacement monitoring structure 412, and a telescopic leg structure 413 rotatably connected to the end platform 31. The angle monitoring structure 411 (including an angle sensor, an angular velocity sensor, and an angular acceleration sensor) is arranged at the rotational connection between the end platform 31 and the telescopic leg structure 413, and is used to monitor the angle change information of the telescopic leg structure 413 relative to the end platform 31. The angle change information includes the angle change amount, the angle change speed, and the angle change acceleration (i.e., the rate of change of the angle change speed); the displacement monitoring structure 412 is arranged on the telescopic leg structure 413, and it can use a sensor for determining the length change of the telescopic leg structure 413, such as a displacement sensor (or distance sensor), a displacement velocity sensor, a displacement acceleration sensor, etc., and is used to monitor the length change information of the telescopic leg structure 413 when it is extended and retracted. The length change information includes the length change amount, the length change speed, and the length change acceleration (i.e., the rate of change of the length change speed). When the unmanned barge operation device is used for offshore barge operation, when the telescopic leg structure 413 contacts the deck of the receiving ship 6 or the material receiving mechanism 7, the telescopic leg structure 413 can move with the deck of the receiving ship 6 or the material receiving mechanism 7, thereby causing corresponding telescopic changes and angle changes relative to the terminal platform 31. The corresponding changes are respectively obtained by the angle monitoring structure 411 and the displacement monitoring structure 412, so that the relative posture change information between the terminal platform 31 and the deck of the receiving ship 6 or the material receiving mechanism 7 can be accurately obtained. By analyzing and processing the relative posture change information, it is used to guide the lifting mechanism 1 and the posture adjustment mechanism 2 to dynamically adjust the position and posture of the terminal platform 31, thereby realizing dynamic adjustment of the position and posture of the clamping structure 32, realizing accurate perception and real-time adjustment of key position information, and realizing compensation for motion deviations caused by dynamic sea conditions (such as wind and wave compensation), significantly improving the stability and docking accuracy of the unmanned barge operation device, thereby ensuring the smooth progress of the material transfer task.

[0051] Optionally, combined Figure 3-Figure 6As shown, the telescopic leg structure 413 includes a rotating auxiliary component 413a, a first telescopic rod 413b, a second telescopic rod 413c and a connecting support structure 413d, the rotating auxiliary component 413a is rotatably connected to the end platform 31, one end of the first telescopic rod 413b is rotatably connected to the rotating auxiliary component 413a, one end of the second telescopic rod 413c is rotatably connected to the rotating auxiliary component 413a, and the other end of the first telescopic rod 413b is connected to the other end of the second telescopic rod 413c through the connecting support structure 413d is rotatably connected; and the rotation axis of the first telescopic rod 413b and the rotational auxiliary component 413a, the rotation axis of the second telescopic rod 413c and the rotational auxiliary component 413a, and the rotation axis of the first telescopic rod 413b and the connecting support structure 413d are parallel to each other, and are perpendicular to the rotation axis of the rotating auxiliary component 413a and the end platform 31; the rotation axis of the second telescopic rod 413c and the connecting support structure 413d coincides with the rotation axis of the first telescopic rod 413b and the connecting support structure 413d;

[0052] The angle monitoring structure 411 is arranged at the rotation connection between the rotating auxiliary component 413a and the end platform 31, and the displacement monitoring structure 412 includes a first displacement monitoring structure 412 and a second displacement monitoring structure 412. The first displacement monitoring structure 412 is arranged on the first telescopic rod 413b, and the second displacement monitoring structure 412 is arranged on the second telescopic rod 413c.

[0053] In this embodiment, in order to improve the structural stability of the telescopic leg structure 413 and reduce the structural complexity and manufacturing cost of the telescopic leg structure 413, the telescopic leg structure 413 includes a rotating auxiliary component 413a, a first telescopic rod 413b, a connecting support structure 413d and a second telescopic rod 413c connected in sequence, and the rotating auxiliary component 413a, the first telescopic rod 413b, the second telescopic rod 413c and the connecting support structure 413d form a triangular structure (or a structure similar to a triangular structure) to improve the structural stability of the telescopic leg structure 413, wherein one end of the first telescopic rod 413b rotates with the rotating auxiliary component 413a The second telescopic rod 413c is rotatably connected to the rotating auxiliary component 413a, and the rotation connection point between the first telescopic rod 413b and the rotating auxiliary component 413a and the rotation connection point between the second telescopic rod 413c and the rotating auxiliary component 413a are arranged at intervals on the rotating auxiliary component 413a, that is, the rotating auxiliary component 413a serves as one side of the above-mentioned triangular structure; the other end of the first telescopic rod 413b is rotatably connected to the other end of the second telescopic rod 413c through the connecting support structure 413d, that is, the first telescopic rod 413b and the second telescopic rod 413c respectively serve as the other two sides of the above-mentioned triangular structure. The rotating auxiliary component 413a is rotationally connected to the corresponding components (or parts) of the end platform 31 to form a rotating auxiliary (or rotating auxiliary) to realize the rotational connection between the telescopic leg structure 413 and the end platform 31; the end of the connecting support structure 413d away from the first telescopic rod 413b and the second telescopic rod 413c is used to contact and support on the deck of the receiving ship 6 or the material receiving mechanism 7 during the offshore rendezvous operation, so as to realize the contact between the telescopic leg structure 413 and the deck of the receiving ship 6 or the material receiving mechanism 7 during the offshore rendezvous operation.Among them, the first telescopic rod 413b and the second telescopic rod 413c are both telescopic structures. The rotation axis of the first telescopic rod 413b and the rotating auxiliary component 413a, the rotation axis of the second telescopic rod 413c and the rotating auxiliary component 413a, and the rotation axis of the first telescopic rod 413b and the connecting support structure 413d are parallel to each other, and all of them are perpendicular to the rotation axis of the rotating auxiliary component 413a and the end platform 31. The rotation axis of the second telescopic rod 413c and the connecting support structure 413d coincides with the rotation axis of the first telescopic rod 413b and the connecting support structure 413d, so that the contact position between the connecting support structure 413d and the deck of the receiving ship 6 or the material receiving mechanism 7 is maintained. In the case of changes, through the extension and retraction of the first telescopic rod 413b, the extension and retraction of the second telescopic rod 413c, the rotation of the rotating auxiliary component 413a relative to the terminal platform 31, the rotation of the first telescopic rod 413b to the connecting support structure 413d, and the rotation of the second telescopic rod 413c to the connecting support structure 413d, the telescopic leg structure 413 can follow the six degrees of freedom of the receiving ship 6 deck or the material receiving mechanism 7, so as to accurately obtain the relative posture change information between the terminal platform 31 and the material receiving mechanism 7 or the deck of the receiving ship 6, determine the relative posture change information between the clamping structure 32 and the material receiving mechanism 7 or the deck of the receiving ship 6, and improve the stability, safety and accuracy of the offshore barge operation.

[0054] Correspondingly, the angle monitoring structure 411 is arranged at the rotation connection between the rotating auxiliary component 413a and the terminal platform 31, and is used to monitor the angle change of the rotating auxiliary component 413a relative to the terminal platform 31, and obtain the angle change of the telescopic leg structure 413 relative to the terminal platform 31. The displacement monitoring structure 412 includes a first displacement monitoring structure 412 and a second displacement monitoring structure 412. The first displacement monitoring structure 412 is arranged on the first telescopic rod 413b, and is used to monitor the telescopic length change of the first telescopic rod 413b; the second displacement monitoring structure 412 is arranged on the second telescopic rod 413c, and is used to monitor the telescopic length change of the second telescopic rod 413c. In this way, the relative posture change information between the grasping mechanism 3 and the material receiving mechanism 7 or the deck of the receiving ship 6 is accurately obtained.

[0055] Optionally, combined Figure 5 , Figure 6As shown, the telescopic length change of the first telescopic rod 413b and the second telescopic rod 413c can also be obtained based on the spring. Exemplarily, the first telescopic rod 413b includes a spring and a fixed rod and a sliding rod connected in a sliding manner. The spring is sleeved on the fixed rod and the sliding rod, and the two ends of the spring are respectively connected to the fixed rod and the sliding rod. By monitoring the magnitude and direction of the spring elastic force, the telescopic length change of the first telescopic rod 413b can be calculated; combined with the time experienced by the telescopic length change of the first telescopic rod 413b, the speed and acceleration of the telescopic length change of the first telescopic rod 413b can be determined; and by setting the spring, the first telescopic rod 413b can also have a telescopic margin and automatic reset function.

[0056] Optionally, the connection between the first telescopic rod 413b, the second telescopic rod 413c and the connecting support structure 413d may adopt a universal joint structure or a ball joint structure to ensure that when the connecting support structure 413d is supported on the deck of the receiving ship 6 or the material receiving mechanism 7, it will not affect the rotation of the first telescopic rod 413b and the second telescopic rod 413c relative to the connecting support structure 413d.

[0057] Optionally, the leg sensing structure 41 is provided with multiple rotating sub-components 413a of the multiple leg sensing structures 41 are arranged at intervals along the circumference of the end platform 31 of the grasping mechanism 3, such as multiple rotating sub-components 413a are respectively rotatably connected to multiple shafts arranged at intervals along the circumference of the end platform 31, and both ends of each rotating sub-component 413a are rotatably connected to the corresponding shaft to improve the stability of the rotating sub-component 413a when connected to the corresponding shaft. Accordingly, the angle monitoring structure 411 is arranged at the rotational connection between the rotating sub-component 413a and the end platform 31, such as two angle monitoring structures 411 are respectively arranged at the rotational connection between the two ends of the rotating sub-component 413a and the corresponding shaft, for measuring the angle, angular velocity, and angular acceleration value of the rotating sub-component 413a relative to the shaft (or the end platform 31). One end of the first telescopic rod 413b and one end of the second telescopic rod 413c are respectively rotatably connected to the upper and lower shaft holes of the rotating auxiliary component 413a through a pin shaft. The first displacement monitoring structure 412 is arranged on the first telescopic rod 413b or in the first telescopic rod 413b, and is used to measure the length change information of the first telescopic rod 413b; the second displacement monitoring structure 412 is arranged on the second telescopic rod 413c or in the second telescopic rod 413c, and is used to measure the length change information of the second telescopic rod 413c; the other end of the first telescopic rod 413b and the other end of the second telescopic rod 413c are respectively rotatably connected to the connecting support structure 413d through a pin shaft.

[0058] Optionally, combined Figure 3-Figure 6As shown, the telescopic leg structure 413 also includes an adsorption structure 413e, which is arranged at the end of the connecting support structure 413d away from the posture adjustment mechanism 2; and the rotation axis of the first telescopic rod 413b and the connecting support structure 413d is perpendicular to the axis of the adsorption structure 413e.

[0059] In this embodiment, in order to further improve the stability of the telescopic leg structure 413 during the offshore barge operation, the telescopic leg structure 413 also includes an adsorption structure 413e, which is arranged at the end of the connecting support structure 413d away from the posture adjustment mechanism 2, so as to provide additional adsorption force when the telescopic leg contacts the deck of the receiving ship 6 or the material receiving mechanism 7, that is, the adsorption structure 413e is used to adsorb on the deck of the receiving ship 6 or the material receiving mechanism 7, so as to improve the stability during contact and avoid the position deviation of the leg due to external forces (such as waves, wind, etc.), so as to ensure that the relative posture change information obtained can truly reflect the actual relative posture change between the grasping mechanism 3 and the material receiving mechanism 7 or the deck of the receiving ship 6.

[0060] Exemplarily, the adsorption structure 413e may adopt a vacuum adsorption structure 413e, an electromagnetic adsorption structure 413e, etc. When the adsorption structure 413e adopts an electromagnetic adsorption structure 413e, the adsorption structure 413e can be firmly connected to the corresponding metal surface of the deck of the receiving ship 6 or the material receiving mechanism 7 by generating electromagnetic suction, and the power supply of the electromagnetic adsorption structure 413e can be controlled according to demand to realize the opening or closing of the adsorption force; when the adsorption structure 413e adopts a vacuum adsorption structure 413e, the adsorption structure 413e realizes the adsorption function by forming a negative pressure area at the contact position, and the air pressure of the vacuum adsorption structure 413e at the contact position can be controlled according to demand to realize the provision or removal of the adsorption force. Exemplarily, the vacuum adsorption structure 413e includes a suction cup, a pipeline connected to the internal space of the suction cup, and a vacuum pump. When the suction cup contacts the deck of the receiving ship 6 or the material receiving mechanism 7, the air in the internal space of the suction cup is extracted by the vacuum pump to realize the provision of adsorption force, and the air is supplied to the internal space of the suction cup by the vacuum pump to realize the removal of adsorption force.

[0061] Moreover, based on the fact that the axis of the adsorption structure 413e is perpendicular to its adsorption plane (such as the plane of the deck of the receiving ship 6 or the material receiving mechanism 7 used to contact the adsorption structure 413e), the rotation axis of the first telescopic rod 413b and the connecting support structure 413d is perpendicular to the axis of the adsorption structure 413e, ensuring that the distance from the rotation axis of the first telescopic rod 413b and the connecting support structure 413d (or the hinge point of the first telescopic rod 413b and the connecting support structure 413d), the rotation axis of the second telescopic rod 413c and the connecting support structure 413d (or the hinge point of the second telescopic rod 413c and the connecting support structure 413d) to the adsorption plane of the adsorption structure 413e is a fixed value, which is the distance between the first telescopic rod 413b and the connecting support structure 413d. The height of the rotation axis of the connecting support structure 413d, the second telescopic rod 413c and the rotation axis of the connecting support structure 413d relative to the adsorption plane of the adsorption structure 413e, thereby facilitating the subsequent accurate calculation of the relative posture change information between the grasping mechanism 3 (or the clamping structure 32) and the material receiving mechanism 7 or the deck of the receiving ship 6 based on the telescopic change amount of the first telescopic rod 413b, the telescopic change amount of the second telescopic rod 413c, the rotation change amount of the rotating auxiliary component 413a relative to the grasping mechanism 3 (or the end platform 31), the rotation change amount of the first telescopic rod 413b to the connecting support structure 413d, the rotation change amount of the second telescopic rod 413c relative to the connecting support structure 413d and the above-mentioned fixed values ​​and other parameters.

[0062] Optionally, the telescopic leg structure 413 further includes a position sensing structure corresponding to the material receiving mechanism 7, and the position sensing structure is arranged on at least one of the adsorption structure 413e and the connecting support structure 413d.

[0063] In order to further improve the accuracy and reliability of the docking between the telescopic leg structure 413 and the material receiving mechanism 7, in this embodiment, the telescopic leg structure 413 also includes a position sensing structure corresponding to the material receiving mechanism 7. The position sensing structure is used to detect (sensing) whether the telescopic leg structure 413 is accurately located at the position of the material receiving mechanism 7, or to detect (sensing) whether the telescopic leg structure 413 is accurately located in the deck area of ​​the receiving ship 6 where the material receiving mechanism 7 is located, thereby providing a basis for the accurate docking of the grasping mechanism 3 and the material receiving mechanism 7.

[0064] Exemplarily, the position sensing structure may adopt sensing methods such as infrared sensing, ultrasonic sensing, photoelectric sensing, wireless radio frequency (RFID) sensing, etc. The specific sensing method may be selected according to the characteristics of the material receiving mechanism 7 and the requirements of the working environment.

[0065] In this way, by setting a position sensing structure on the telescopic leg structure 413, the detection accuracy and response speed of the docking position of the telescopic leg structure 413 during the offshore rendezvous operation can be significantly improved, thereby facilitating the accurate acquisition of the relative posture change information between the grasping mechanism 3 and the material receiving mechanism 7 or the deck of the receiving ship 6, improving the posture adjustment efficiency of the telescopic leg structure 413, reducing the risk of docking failure, and ensuring the stability, safety and accuracy of the operation of the unmanned rendezvous operation device under complex sea conditions.

[0066] Optionally, the position and posture sensing mechanism 4 includes at least three leg sensing structures 41 whose arrangement positions on the grasping mechanism 3 are not collinear.

[0067] In this embodiment, a plane is determined based on three non-collinear points. In order to accurately obtain the relative posture change information between the grasping mechanism 3 and the material receiving mechanism 7 or the deck of the receiving ship 6, the posture sensing mechanism 4 is provided with at least three outrigger sensing structures 41 whose setting positions on the grasping mechanism 3 (or the end platform 31) are not collinear. That is to say, for the multiple outrigger sensing structures 41 set on the grasping mechanism 3, at least three telescopic outrigger structures 413 are set on the grasping mechanism 3 at non-collinear positions. In this way, it is ensured that the posture sensing mechanism 4 can cover (sense) posture changes in different directions through at least three outrigger sensing structures 41, thereby improving the detection coverage and data accuracy of the posture sensing mechanism 4. In addition, by setting at least three outrigger sensing structures 41, it is convenient to provide stable support for the grasping mechanism 3 on the deck of the material receiving mechanism 7 or the receiving ship 6.

[0068] Exemplarily, the posture sensing mechanism 4 is provided with three outrigger sensing structures 41 whose setting positions are not collinear on the end platform 31 of the grasping mechanism 3. When the three outrigger sensing structures 41 are all supported on the deck of the receiving ship 6 or the material receiving mechanism 7, the contact positions of the three outrigger sensing structures 41 and the deck of the receiving ship 6 or the material receiving mechanism 7 are also not collinear. In this way, the contact positions of the three outrigger sensing structures 41 and the deck of the receiving ship 6 or the material receiving mechanism 7 can be determined according to the structural parameters and dynamic changes of the telescopic outrigger structure 413 of the outrigger sensing structure 41. The plane (which corresponds to the deck of the receiving ship 6 or the material receiver), and the plane formed by the setting positions of the three leg sensing structures 41 on the terminal platform 31 (which corresponds to the terminal platform 31), the relative posture change between the two planes, etc., that is, determining the relative posture change information between the terminal platform 31 (or the grasping mechanism 3) and the material receiving mechanism 7 or the deck of the receiving ship 6, thereby determining the relative posture change information between the clamping structure 32 set on the terminal platform 31 and the material receiving mechanism 7, providing a basis for the accurate docking of the clamping structure 32 of the grasping mechanism 3 with the material receiving mechanism 7.

[0069] Combination Figure 1As shown, another embodiment of the present invention provides a supply ship 5, including the above-mentioned unmanned barge operation device.

[0070] In this embodiment, the supply ship 5 can significantly improve the automation and intelligence level of the supply ship 5 in the offshore barge task by adopting the above-mentioned unmanned barge operation device, and can realize unmanned barge automation operation, reduce the dependence on manual operation, and improve the accuracy of material transfer. Specifically, by setting a crane, the vertical lifting and horizontal swinging capabilities of materials are provided. By setting a posture adjustment mechanism 2, the boom 11 of the lifting mechanism 1 is connected to the grasping mechanism 3, and is used to adjust the position and posture of the grasping mechanism 3. By setting the grasping mechanism 3, the materials are grasped and held tightly during the material transfer process to ensure the smooth progress of material supply. By setting up a posture sensing mechanism 4, it is used to realize accurate perception and feedback control of key position information under dynamic sea conditions, wherein the visual perception structure of the posture sensing mechanism 4 is installed on at least one of the boom 11, the posture adjustment mechanism 2 and the grasping mechanism 3, so as to obtain image information about the relative posture of the grasping mechanism 3 and the material receiving mechanism 7 or the deck of the receiving ship 6 in real time, thereby providing global perception capability for the unmanned rendezvous operation device for unmanned rendezvous operation; the leg sensing structure 41 of the posture sensing mechanism 4 can realize the perception of high-frequency motion or subtle displacement by sensing the relative posture change information between the grasping mechanism 3 and the material receiving mechanism 7 or the deck of the receiving ship 6 or the material receiving mechanism 7 in real time when contacting the deck of the receiving ship 6 or the material receiving mechanism 7, thereby making up for the deficiency that the visual perception structure is easily affected by light and occlusion. Moreover, the above-mentioned image information and relative posture change information can be used as input to the lifting mechanism 1 and the posture adjustment mechanism 2 to guide the lifting mechanism 1 and the posture adjustment mechanism 2 to dynamically adjust the position and posture of the grasping mechanism 3, ensuring that the grasping mechanism 3 and the material receiving mechanism 7 can still be accurately connected in complex sea conditions, thereby ensuring the smooth supply of materials and the efficient completion of unmanned rendezvous tasks at sea.

[0071] Combination Figure 1 , Figure 7 As shown, another embodiment of the present invention provides an unmanned barge operation method, based on the above-mentioned unmanned barge operation device; the unmanned barge operation method includes:

[0072] Step 100 : Grab the supply material 8 on the supply ship 5 by using the grabbing mechanism 3 .

[0073] Specifically, when an unmanned docking operation device is used to perform unmanned docking operations at sea, the grabbing mechanism 3 in the unmanned docking operation device is first used to grab the supply materials 8 for supplying the receiving ship 6 in the material storage area at the corresponding position of the deck of the supply ship 5. During this period, the grabbing mechanism 3 can be smoothly moved to the material storage area to grab the material storage area by driving the boom 11 and / or the posture adjustment mechanism 2 of the lifting mechanism 1; and the position recognition of the supply materials 8 can be realized based on the posture sensing mechanism 4, such as recognizing the position of the supply materials 8 through the visual perception structure, and cooperating with the grabbing mechanism 3 to realize unmanned and automated operations. In some embodiments, the grabbing mechanism 3 can be controlled to adjust the clamping force (or adsorption force, such as the grabbing mechanism 3 carries out material transportation by adsorption) according to the characteristics of the supply materials 8 (such as shape, weight, material), to ensure that the supply materials 8 are firmly grasped.

[0074] Step 200 , drive the boom 11 of the lifting mechanism 1 until the posture adjustment mechanism 2 and the grasping mechanism 3 move to above the material receiving mechanism 7 .

[0075] Specifically, after the grabbing mechanism 3 successfully grabs the supply material 8 on the supply ship 5, it can drive the boom 11 of the lifting mechanism 1 to move accordingly (such as rotation, lifting and lowering), so that the posture adjustment mechanism 2 connected to the boom 11 and the grabbing mechanism 3 connected to the posture adjustment mechanism 2 move to the top of the material receiving mechanism 7 (the position can be determined by the visual perception structure), so as to facilitate the subsequent precise docking of the grabbing mechanism 3 and the material receiving mechanism 7.

[0076] Step 300, drive the boom 11 and / or the posture adjustment mechanism 2, until the grasping mechanism 3 descends to the telescopic leg structure 413 of the leg sensing structure 41, and the adsorption structure 413e is adsorbed on the target area corresponding to the material receiving mechanism 7; wherein, the target area is located on the material receiving mechanism 7, or is located in the area where the material receiving mechanism 7 is located on the deck of the receiving ship 6.

[0077] Specifically, after the posture adjustment mechanism 2 and the grasping mechanism 3 move to the top of the material receiving mechanism 7, the grasping mechanism 3 can be lowered to the target area corresponding to the material receiving mechanism 7 by driving the boom 11 and / or the posture adjustment mechanism 2 to move accordingly, and the target area can be a position on the material receiving mechanism 7, or the area where the material receiving mechanism 7 is located on the deck of the receiving ship 6; until the grasping mechanism 3 descends to the target area corresponding to the material receiving mechanism 7, the adsorption structure 413e of the telescopic leg structure 413 of the leg sensing structure 41 is adsorbed on the telescopic leg structure 413, so as to achieve stable contact between the telescopic leg structure 413 and the material receiving mechanism 7 or the deck of the receiving ship 6, and avoid the contact position of the telescopic leg structure 413 and the material receiving mechanism 7 or the deck of the receiving ship 6 being offset due to external forces (such as waves, wind, etc.), thereby ensuring that the acquired relative posture change information can truly reflect the actual relative posture change between the grasping mechanism 3 and the material receiving mechanism 7 or the deck of the receiving ship 6, and improve the accuracy of subsequent follow-up compensation.

[0078] Step 400: acquiring the operating parameters of the telescopic leg structure 413 in real time, and determining the relative posture change information of the grasping mechanism 3 and the material receiving mechanism 7 according to the operating parameters.

[0079] Specifically, the real-time operating parameters of the leg sensing structure 41 are acquired (collected) at least through the angle monitoring structure 411 and the displacement monitoring structure 412 of the leg sensing structure 41. For example, the length change of the telescopic leg structure 413 itself and the speed, acceleration and other parameters of the length change are collected through the displacement monitoring structure 412, and the angle change of the telescopic leg structure 413 relative to the grasping mechanism 3 and the speed, acceleration and other parameters of the angle change are collected through the angle monitoring structure 411. The relative posture change information of the grasping mechanism 3 and the material receiving mechanism 7 can be determined based on these parameters (calculation), and the relative posture of the grasping mechanism 3 and the deck of the receiving ship 6 can be determined based on these parameters (calculation). Combined with the position of the material receiving mechanism 7 on the deck of the receiving ship 6, the relative posture change information of the grasping mechanism 3 and the material receiving mechanism 7 can be determined. The determined relative posture change information between the grasping mechanism 3 and the material receiving mechanism 7 is used to guide the subsequent follow-up compensation, that is, to guide the lifting mechanism 1 and the posture adjustment mechanism 2 to dynamically adjust the position and posture of the grasping mechanism 3, to ensure that the grasping mechanism 3 and the material receiving mechanism 7 can still be accurately connected in complex sea conditions, thereby ensuring the smooth supply of materials and the efficient completion of unmanned rendezvous tasks at sea.

[0080] Step 500 , based on the relative posture change information, control at least one of the boom 11 and the posture adjustment mechanism 2 to perform follow-up compensation on the grasping mechanism 3 , dock the grasping mechanism 3 with the material receiving mechanism 7 , and transfer the supply material 8 to the material receiving mechanism 7 .

[0081] Specifically, the grabbing mechanism 3 is docked with the material receiving mechanism 7. During the docking process, according to the relative posture change information, at least one of the boom 11 and the posture adjustment mechanism 2 is controlled to perform follow-up compensation on the grabbing mechanism 3. After successful docking, the supply material 8 is transferred to the material receiving mechanism 7, and the material supply of the supply ship 5 to the receiving ship 6 is completed, and the unmanned docking operation is completed. Among them, when the grabbing mechanism 3 is subjected to follow-up compensation during the docking process, the posture of the grabbing mechanism 3 is adjusted by at least one of the boom 11 and the posture adjustment mechanism 2, so that the grabbing mechanism 3 and the material receiving mechanism 7 are kept in follow-up in the non-operating direction, that is, the grabbing mechanism 3 and the material receiving mechanism 7 are relatively still (or close to relatively still) in the non-operating direction, and move normally (or close) in the operating direction (i.e., the docking direction), thereby improving the ability of the unmanned docking operation device to cope with complex and changeable sea conditions, and ensuring that the grabbing mechanism 3 can stably grab and accurately release materials to the target position (i.e., the material receiving mechanism 7) in the target area on the receiving ship 6 under dynamic sea conditions. In some embodiments, if the dynamic relative displacement between the grasping mechanism 3 and the material receiving mechanism 7 is small, the follow-up compensation of the grasping mechanism 3 can be independently performed by using only the posture adjustment mechanism 2; if the dynamic relative displacement between the grasping mechanism 3 and the material receiving mechanism 7 exceeds the compensation capacity of the posture adjustment mechanism 2, the lifting mechanism 1 is required to participate in the follow-up compensation of the grasping mechanism 3, such as performing the follow-up compensation of the grasping mechanism 3 through the cooperation of the lifting mechanism 1 and the posture adjustment mechanism 2.

[0082] In this way, the method of this embodiment performs unmanned barge operations at sea based on unmanned barge operation equipment, which significantly improves the automation and intelligence level of barge tasks, realizes unmanned barge automated operations, reduces dependence on manual operations, and improves the accuracy of material transfer.

[0083] Optionally, before step 100, the unmanned barge operation method further includes:

[0084] Conduct structural design for unmanned barge-to-barge operation equipment;

[0085] Conduct simulation verification on the designed unmanned barge operation device;

[0086] According to the simulation verification results, the structural design of the unmanned barge operation device is optimized.

[0087] In this embodiment, a systematic structural design, simulation verification and optimization are carried out for the unmanned refueling operation device required for the unmanned refueling operation method to ensure that the structural design of the unmanned refueling operation device finally obtained meets the performance requirements of the unmanned refueling operation. In some embodiments, the structural design of the unmanned refueling operation device needs to consider factors such as the maximum deck relative movement rate between the barges under complex sea conditions and the limit perception space of the legs. The preliminary designed structure needs to be simulated under different sea conditions, so as to perform structural optimization according to the simulation verification results. After optimization, simulation and structural optimization are continued, and this cycle is repeated until the best configuration scheme of the unmanned refueling operation device is determined.

[0088] Optionally, combined Figure 7 , Figure 8 As shown, step 300 includes:

[0089] Step 310: based on the visual perception structure of the posture perception mechanism 4, image information about the relative posture of the grasping mechanism 3 and the target area is obtained;

[0090] Step 320: according to the image information, drive the boom 11 and / or the posture adjustment mechanism 2 to make the grasping mechanism 3 descend toward the target area;

[0091] Step 330: When the grasping mechanism 3 descends until the adsorption structure 413e falls on the target area, the adsorption structure 413e is controlled to adsorb in the target area.

[0092] In this embodiment, for step 300, the relative posture information about the grabbing mechanism 3 and the target area corresponding to the material receiving mechanism 7 on the receiving ship 6 is first obtained in real time with the help of the visual perception structure in the posture perception mechanism 4. Afterwards, the image information is analyzed and processed, such as using a preset feature recognition algorithm (such as color marking, shape detection, edge detection, etc.) to analyze and process the image information, and determine the relative posture (including relative distance and direction) of the grabbing mechanism 3 and the target area corresponding to each frame of image information obtained. The (descending) motion path of the grabbing mechanism 3 can be planned based on the relative posture, and the position and posture of the grabbing mechanism 3 can be adjusted by driving the boom 11 and / or the posture adjustment mechanism 2 to ensure that the grabbing mechanism 3 descends toward the target area according to the motion path. Then, when the grasping mechanism 3 descends until the adsorption structure 413e of the telescopic leg structure 413 falls on the deck of the material receiving mechanism 7 or the receiving ship 6, the position sensing structure of the telescopic leg structure 413 can be used to determine whether the adsorption structure 413e has accurately fallen on the target area. If so, the adsorption structure 413e is controlled to be adsorbed in the target area, that is, the adsorption operation is completed at the target position, so as to achieve stable contact between the telescopic leg structure 413 and the deck of the material receiving mechanism 7 or the receiving ship 6 in the target area, and avoid the contact position of the telescopic leg structure 413 and the target area being offset due to external forces (such as waves, wind, etc.), thereby ensuring that the acquired relative posture change information can truly reflect the actual relative posture change between the grasping mechanism 3 and the deck of the material receiving mechanism 7 or the receiving ship 6, and improve the accuracy of subsequent follow-up compensation.

[0093] Optionally, after step 320 and before step 330, step 300 further includes:

[0094] When the grabbing mechanism 3 descends until the adsorption structure 413e of the telescopic leg structure 413 falls on the deck of the material receiving mechanism 7 or the receiving ship 6, it is determined whether the adsorption structure 413e falls accurately in the target area;

[0095] If not, adjust the position of the grabbing mechanism 3 until the adsorption structure 413e falls on the target area.

[0096] Specifically, when the grabbing mechanism 3 descends until the adsorption structure 413e of the telescopic leg structure 413 falls on the deck of the material receiving mechanism 7 or the receiving ship 6, the position sensing structure of the telescopic leg structure 413 can be used to determine whether the adsorption structure 413e accurately falls on the target area. If not, the position of the grabbing mechanism 3 is adjusted to fall on the target area. In some embodiments, when adjusting the position of the grabbing mechanism 3 to fall on the target area, the grabbing mechanism 3 can be lifted first, thereby driving the telescopic leg structure 413 set on the grabbing mechanism 3 to be lifted together, providing sufficient activity space for the subsequent position adjustment of the adsorption structure 413e, and avoiding obstruction or friction caused by the adsorption structure 413e contacting the deck or the material receiving mechanism 7 during adjustment. Among them, the lifting height can be automatically calculated and controlled according to the detected offset (i.e., the offset of the adsorption structure 413e relative to the target area), and it is usually only necessary to lift the adsorption structure 413e a certain safe distance away from the target area.

[0097] Optionally, the operating parameters include the length change amount, length change speed, and length change acceleration of the telescopic leg structure 413, and the angle change amount, angle change speed, and angle change acceleration of the telescopic leg structure 413 relative to the grasping mechanism 3;

[0098] The relative posture change information of the grabbing mechanism 3 and the material receiving mechanism 7 determined according to the operating parameters includes:

[0099] Determine a first relative position of the material receiving mechanism 7 relative to the grasping mechanism 3 according to the length change and the angle change;

[0100] Predicting a second relative posture of the material receiving mechanism 7 relative to the grasping mechanism 3 according to the first relative posture, as well as the length change speed, the length change acceleration, the angle change speed, and the angle change acceleration;

[0101] According to the first relative posture, the length change, the length change acceleration, the angle change and the angle change acceleration, the second relative posture of the material receiving mechanism 7 relative to the grasping mechanism 3 is predicted.

[0102] Specifically, the operating parameters include the length change, length change speed and length change acceleration of the telescopic leg structure 413, and the angle change, angle change speed and angle change acceleration of the telescopic leg structure 413 relative to the grasping mechanism 3. Based on these operating parameters, the current state and movement trend of the telescopic leg structure 413 can be accurately determined, and the relative posture change information between the grasping mechanism 3 and the material receiving mechanism 7 can be determined accordingly. Among them, the length change, length change speed and length change acceleration can all be measured in real time by the displacement monitoring structure 412 installed on the telescopic leg structure 413; the angle change, angle change speed and angle change acceleration can all be measured in real time by the angle monitoring structure 411 installed at the rotation connection between the telescopic leg structure 413 and the grasping mechanism 3 (or the end platform 31).

[0103] When determining the relative posture change information between the grasping mechanism 3 and the material receiving mechanism 7, first, according to the length change and angle change of the telescopic leg structure 413, the preset leg kinematic model of the corresponding telescopic leg structure 413 is brought in, and the relative posture of the material receiving mechanism 7 relative to the grasping mechanism 3 (recorded as the first relative posture) is output. Thereafter, according to the equation obtained after two differentiations of the first relative posture, combined with the length change speed, length change acceleration, angle change speed and angle change acceleration of the telescopic leg structure 413, the corresponding model is brought in, and the subsequent posture change of the material receiving mechanism 7 relative to the grasping mechanism 3 can be predicted, that is, the subsequent relative posture of the material receiving mechanism 7 relative to the grasping mechanism 3 is predicted (recorded as the second relative posture). Exemplarily, by establishing a dynamic model including the motion relationship between the grasping mechanism 3 and the material receiving mechanism 7, the operating parameters are taken as input, and the kinematic and dynamic formulas are used to predict the relative posture of the material receiving mechanism 7 at the future moment.

[0104] Among them, the operating parameters used to determine the relative posture change information between the grasping mechanism 3 and the material receiving mechanism 7 come from at least three leg sensing structures 41 of the posture sensing mechanism 4, which are not collinearly set on the grasping mechanism 3, so as to improve the efficiency of determining the relative posture change information and ensure the accuracy of the relative posture change information obtained.

[0105] Step 500 includes:

[0106] Control at least one of the boom 11 and the posture adjustment mechanism 2, perform follow-up compensation on the grasping mechanism 3 based on the second relative posture, dock the grasping mechanism 3 with the material receiving mechanism 7, and transfer the supply material 8 to the material receiving mechanism 7.

[0107] Specifically, considering that in a dynamic environment, the relative position and posture between the grasping mechanism 3 and the material receiving mechanism 7 will change continuously due to external influences (such as wind, waves, vibration, etc.), the grasping mechanism 3 needs to quickly respond to the movement of the material receiving mechanism 7 to achieve accurate docking. However, if the real-time feedback of the posture sensing mechanism 4 is relied on alone, there is often a time delay, which cannot meet the needs of a rapidly changing dynamic environment. Therefore, using the predicted value (the second relative posture) to guide the follow-up compensation of the grasping mechanism 3 can provide advance guidance for the posture of the grasping mechanism 3 according to the predicted future position and posture of the material receiving mechanism 7, so that the grasping mechanism 3 can complete the position and posture adjustment when or before the corresponding future state arrives, thereby reducing the lag effect, improving the response speed and control accuracy, etc.

[0108] Among them, when the grasping mechanism 3 is subjected to follow-up compensation during the docking process, the posture of the grasping mechanism 3 is adjusted by at least one of the boom 11 and the posture adjustment mechanism 2, so that the grasping mechanism 3 and the material receiving mechanism 7 can maintain follow-up in the non-operating direction, that is, the grasping mechanism 3 and the material receiving mechanism 7 are relatively still (or close to relatively still) in the non-operating direction, and move normally (or close) in the operating direction (i.e., the docking direction), so as to realize the precise operation of the transfer of the supply material 8, thereby improving the ability of the unmanned docking operation device to cope with complex and changeable sea conditions, and ensuring that the grasping mechanism 3 can stably grasp and accurately release materials to the target position (i.e., the material receiving mechanism 7) in the target area on the receiving ship 6 under dynamic sea conditions.

[0109] For example, in the unmanned barge operation method, when the grabbing mechanism 3 is moved to the approximate area above the material receiving mechanism 7 (or the target area), with the assistance of the visual perception structure, the position of the grabbing mechanism 3 can be adjusted so that the grabbing mechanism 3 and the material receiving mechanism 7 keep following each other in the non-operating direction. When the grabbing mechanism 3 slowly descends and approaches the target area until it reaches the detection range of the position sensing structure, the position sensing structure is turned on to sense the deviation between the telescopic leg structure 413 and the target area, and guide the subsequent position adjustment of the grabbing mechanism 3; when the adsorption structure 413e of all the telescopic leg structures 413 is located in the target area, the adsorption structure 413e is adsorbed (such as being sucked onto the deck or the material receiving mechanism 7). Assuming that at this time, due to factors such as the movement of waves, the end platform 31 of the grabbing mechanism 3 is not relatively parallel to the material receiving mechanism 7, the sensing structure can be turned off at this time, and the angle monitoring structure 411 and the displacement monitoring structure 412 of the leg sensing structure 41 can be turned on.

[0110] The first telescopic rod 413b is used to monitor the change in the telescopic length of the first telescopic rod 413b; the second displacement monitoring structure 412 is set on the second telescopic rod 413c

[0111] Regarding the process of solving the relative posture change information: when the grasping mechanism 3 and the material receiving mechanism 7 generate relative motion, the first telescopic rod 413b and the second telescopic rod 413c of the telescopic leg structure 413 will generate corresponding length changes, and the displacement monitoring structure 412 for monitoring the length change information measures the length L1 of the first telescopic rod 413b and the length L2 of the second telescopic rod 413c (such as Figure 6 As shown), since the distance from one end of the first telescopic rod 413b used to connect the rotating auxiliary component 413a to one end of the second telescopic rod 413c used to connect the rotating auxiliary component 413a is a constant value h0 (as shown Figure 6 As shown in the figure, the rotating auxiliary component 413a and the first telescopic rod 413b and the second telescopic rod 413c form a triangular structure with a fixed length of one side and variable lengths of the other two sides. Combined with the cosine theorem, the relative height H (i.e., the distance in the vertical direction) and the distance S (i.e., the distance in the horizontal direction) from the hinge point of the second telescopic rod 413c (or the first telescopic rod 413b) and the rotating auxiliary component 413a to the hinge point of the second telescopic rod 413c (or the first telescopic rod 413b) and the connecting support structure 413d can be calculated; when the grasping mechanism 3 and the material receiving mechanism 7 produce relative motion, the telescopic leg structure 413 may rotate at a certain angle relative to the end platform 31, and the angle monitoring structure 411 will measure the angle change information. Among them, in order to avoid the error amplification problem caused by calculating the speed or acceleration by numerically differentiating the displacement or angle change, for the corresponding speed (such as the length change speed in the length change information, the angle change speed in the angle change information), acceleration (such as the length change acceleration in the length change information, the angle change acceleration in the angle change information), the corresponding displacement speed sensor and displacement acceleration sensor in the displacement monitoring structure 412 can be directly used to obtain the length change speed and length change acceleration respectively, and the corresponding angular speed sensor and angular acceleration sensor in the angle monitoring structure 411 can be directly used to obtain the angle change speed and angle change acceleration respectively, so as to provide more accurate operating parameters and reduce error accumulation, so as to more accurately obtain (or predict) the movement trend of the telescopic leg. According to the above derivation process, the coordinate system of the grasping mechanism 3 and the kinematic equation of the telescopic leg structure 413 can be established. By substituting the measured values ​​of the displacement monitoring structure 412 and the angle monitoring structure 411, the coordinate position of the hinge point of each telescopic leg structure 413 and the corresponding connecting support structure 413d can be obtained. The plane formed by these coordinates is parallel to the contact surface (such as the deck surface of the receiving ship 6 or the end surface of the material receiving mechanism 7), and it is known that the adsorption structure 413e connected to the connecting support structure 413d is always perpendicular to the contact surface. Therefore, the coordinates of the hinge point are respectively subtracted from the unit normal vector of the contact surface and the height h from the hinge point to the contact surface (such as Figure 6As shown in the figure, h is a constant), the coordinates of the contact point between the adsorption structure 413e and the contact surface can be obtained, and further the position and posture (i.e. relative posture) of the center point of the material receiving mechanism 7 in the coordinate system of the grasping mechanism 3 can be obtained. Therefore, through the measurement values ​​of the displacement monitoring structure 412 and the angle monitoring structure 411 at any time, the relative posture of the material receiving mechanism 7 relative to the grasping mechanism 3 at any time can be solved (in the process of material transfer, the material receiving mechanism 7 can be regarded as fixed on the deck). And according to the corresponding measurement values ​​of the displacement monitoring structure 412 and the angle monitoring structure 411, the movement trend of the telescopic leg structure 413 can be predicted, thereby predicting the relative posture change trend of the material receiving mechanism 7 relative to the grasping mechanism 3, and obtaining the posture trend and motion trajectory of the material receiving mechanism 7 in the future, providing a more accurate guidance basis for the follow-up compensation of the grasping mechanism 3.

[0112] In summary, the method of this embodiment can realize the perception and prediction of the posture of the material receiving mechanism 7, adjust the posture of the grasping mechanism 3 according to the predicted value, realize the follow-up of the grasping mechanism 3 and the material receiving mechanism 7 in the non-operating direction, and realize active wave compensation for the grasping mechanism 3, so that the material can be transferred accurately and meet the task requirements of unmanned autonomous rendezvous at sea under complex sea conditions.

[0113] Optionally, when determining the relative posture change information, the operating parameters of any three outrigger sensing structures 41 in the posture sensing mechanism 4 whose setting positions on the grasping mechanism 3 are not collinear can be used as a parameter group, and the relative posture change information can be calculated based on the parameter group. When the number of outrigger sensing structures 41 of the posture sensing mechanism 4 is greater than three, multiple parameter groups can be constructed, and redundant measurement of relative posture change information can be achieved based on multiple parameter groups, effectively avoiding the situation where the unmanned docking operation device cannot operate normally due to the failure of a certain outrigger sensing structure 41. At the same time, by calculating and comparing the relative posture change information corresponding to multiple parameter groups, the validity of the results can be verified; if it is found that the calculation results between the parameter groups are obviously abnormal, the abnormal data can be eliminated to further improve the measurement accuracy and system reliability. In addition, based on the parameter group corresponding to the abnormal data, the faulty outrigger sensing structure 41 can be quickly located, and fault identification and diagnosis can be achieved, thereby ensuring the stable operation of the system.

[0114] Optionally, when the contact surface between the target area and the outrigger sensing structure 41 is a step surface, the step height can be measured by the corresponding monitoring mechanism of the unmanned docking operation device, and the step height can be taken into account when the relative posture change information is subsequently determined, so that the relative posture change information of the grasping mechanism 3 and the material receiving mechanism 7 set on the step surface can be accurately obtained. In this way, the applicability of the unmanned docking operation method is improved.

[0115] Although the present invention is disclosed as above, the protection scope of the present invention is not limited thereto. Those skilled in the art may make various changes and modifications without departing from the spirit and scope of the present invention, and these changes and modifications will fall within the protection scope of the present invention.

Claims

1. An unmanned barge-to-barge operation device, characterized in that: The invention comprises a lifting mechanism (1), a posture adjustment mechanism (2), a grasping mechanism (3) and a posture sensing mechanism (4); the lifting mechanism (1) is used to be arranged on a supply ship (5); the lifting arm (11) of the lifting mechanism (1), the posture adjustment mechanism (2) and the grasping mechanism (3) are connected in sequence; the posture sensing mechanism (4) comprises a visual sensing structure and a leg sensing structure (41); the visual sensing structure is arranged on at least one of the lifting arm (11), the posture adjustment mechanism (2) and the grasping mechanism (3). The support leg sensing structure (41) is arranged on the grasping mechanism (3) and is used to obtain image information about the relative position change information between the grasping mechanism (3) and the deck of the receiving ship (6) when in contact with the deck of the receiving ship (6), or to obtain the relative position change information between the grasping mechanism (3) and the deck of the receiving ship (6) when in contact with the support leg sensing structure (41).

2. The unmanned barge operation device according to claim 1, characterized in that: The gripping mechanism (3) comprises an end platform (31) connected to the posture adjustment mechanism (2), and a clamping structure (32) arranged on a side of the end platform (31) away from the posture adjustment mechanism (2); the leg sensing structure (41) comprises an angle monitoring structure (411), a displacement monitoring structure (412), and a telescopic leg structure (413) rotatably connected to the end platform (31); the angle monitoring structure (411) is arranged at the rotational connection between the end platform (31) and the telescopic leg structure (413) and is used to monitor the angle change information of the telescopic leg structure (413) relative to the end platform (31); the displacement monitoring structure (412) is arranged on the telescopic leg structure (413) and is used to monitor the length change information of the telescopic leg structure (413).

3. The unmanned barge operation device according to claim 2, characterized in that: The telescopic leg structure (413) comprises a rotating auxiliary component (413a), a first telescopic rod (413b), a second telescopic rod (413c) and a connecting support structure (413d), wherein the rotating auxiliary component (413a) is rotatably connected to the end platform (31), one end of the first telescopic rod (413b) is rotatably connected to the rotating auxiliary component (413a), one end of the second telescopic rod (413c) is rotatably connected to the rotating auxiliary component (413a), the other end of the first telescopic rod (413b) and the other end of the second telescopic rod (413c) are connected to each other via the connecting support structure (413d). 3d) are rotatably connected; and the rotation axis of the first telescopic rod (413b) and the rotating auxiliary component (413a), the rotation axis of the second telescopic rod (413c) and the rotating auxiliary component (413a), and the rotation axis of the first telescopic rod (413b) and the connecting support structure (413d) are parallel to each other, and are perpendicular to the rotation axis of the rotating auxiliary component (413a) and the end platform (31); the rotation axis of the second telescopic rod (413c) and the connecting support structure (413d) coincides with the rotation axis of the first telescopic rod (413b) and the connecting support structure (413d); The angle monitoring structure (411) is arranged at the rotation connection between the rotating auxiliary component (413a) and the end platform (31), and the displacement monitoring structure (412) includes a first displacement monitoring structure (412) and a second displacement monitoring structure (412), wherein the first displacement monitoring structure (412) is arranged on the first telescopic rod (413b), and the second displacement monitoring structure (412) is arranged on the second telescopic rod (413c).

4. The unmanned barge operation device according to claim 3, characterized in that: The telescopic leg structure (413) also includes an adsorption structure (413e), which is arranged at one end of the connecting support structure (413d) away from the posture adjustment mechanism (2); and the rotation axis of the first telescopic rod (413b) and the connecting support structure (413d) is perpendicular to the axis of the adsorption structure (413e).

5. The unmanned barge operation device according to claim 4, characterized in that: The telescopic leg structure (413) further comprises a position sensing structure corresponding to the material receiving mechanism (7), wherein the position sensing structure is arranged on at least one of the adsorption structure (413e) and the connection support structure (413d).

6. The unmanned barge operation device according to any one of claims 1 to 5, characterized in that: The position and posture sensing mechanism (4) comprises at least three leg sensing structures (41) on the grasping mechanism (3) whose arrangement positions are not collinear.

7. A supply ship, characterized in that: It comprises an unmanned barge operation device as described in any one of claims 1 to 6.

8. An unmanned barge-to-barge operation method, characterized in that: Based on the unmanned barge operation device according to any one of claims 1 to 6; The unmanned barge operation method comprises: Grabbing the supply materials (8) on the supply ship (5) by means of the grabbing mechanism (3); Driving the boom (11) of the lifting mechanism (1) so that the posture adjustment mechanism (2) and the grasping mechanism (3) move to the top of the material receiving mechanism (7); The boom (11) and / or the posture adjustment mechanism (2) are driven until the grasping mechanism (3) is lowered to the point where the adsorption structure (413e) of the telescopic leg structure (413) of the leg sensing structure (41) is adsorbed on a target area corresponding to the material receiving mechanism (7); wherein the target area is located on the material receiving mechanism (7), or is located on the deck of the receiving ship (6) in the area where the material receiving mechanism (7) is located; Acquiring the operating parameters of the telescopic leg structure (413) in real time, and determining the relative position change information of the grasping mechanism (3) and the material receiving mechanism (7) according to the operating parameters; According to the relative posture change information, at least one of the boom (11) and the posture adjustment mechanism (2) is controlled to perform follow-up compensation on the grasping mechanism (3), dock the grasping mechanism (3) with the material receiving mechanism (7), and transfer the supply material (8) to the material receiving mechanism (7).

9. The unmanned barge operation method according to claim 8, characterized in that: The step of driving the boom (11) and / or the posture adjustment mechanism (2) until the grasping mechanism (3) descends to the point where the adsorption structure (413e) of the telescopic leg structure (413) of the leg sensing structure (41) is adsorbed on a target area corresponding to the material receiving mechanism (7) comprises: Based on the visual perception structure of the posture perception mechanism (4), image information about the relative posture of the grasping mechanism (3) and the target area is obtained; According to the image information, driving the suspension arm (11) and / or the posture adjustment mechanism (2) to make the grasping mechanism (3) descend toward the target area; When the grasping mechanism (3) descends until the adsorption structure (413e) falls on the target area, the adsorption structure (413e) is controlled to perform adsorption on the target area.

10. The unmanned barge operation method according to claim 8, characterized in that: The operating parameters include the length change amount, length change speed, and length change acceleration of the telescopic leg structure (413), and the angle change amount, angle change speed, and angle change acceleration of the telescopic leg structure (413) relative to the grasping mechanism (3); The determining of the relative position change information of the grasping mechanism (3) and the material receiving mechanism (7) according to the operating parameters comprises: Determining a first relative position of the material receiving mechanism (7) relative to the grasping mechanism (3) according to the length change and the angle change; Predicting a second relative posture of the material receiving mechanism (7) relative to the grasping mechanism (3) based on the first relative posture, the length change speed, the length change acceleration, the angle change speed, and the angle change acceleration; The method of controlling at least one of the boom (11) and the posture adjustment mechanism (2) to perform follow-up compensation on the grasping mechanism (3) based on the relative posture change information, docking the grasping mechanism (3) with the material receiving mechanism (7), and transferring the supply material (8) to the material receiving mechanism (7) comprises: Control at least one of the boom (11) and the posture adjustment mechanism (2), perform follow-up compensation on the grasping mechanism (3) based on the second relative posture, dock the grasping mechanism (3) with the material receiving mechanism (7), and transfer the supply material (8) to the material receiving mechanism (7).

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