An unmanned barge operation device, method, and supply vessel

Abstract

This invention provides an unmanned barge operation device, method, and supply vessel, relating to the field of maritime replenishment technology. The device includes a lifting mechanism, a posture adjustment mechanism, a gripping mechanism, and a posture sensing mechanism. The lifting mechanism is mounted on the supply vessel, with its boom, posture adjustment mechanism, and gripping mechanism connected sequentially. The posture sensing mechanism includes a visual sensing structure and a leg sensing structure. The visual sensing structure is mounted on at least one of the boom, posture adjustment mechanism, and gripping mechanism, and is used to acquire image information regarding the relative posture of the material receiving mechanism and the gripping mechanism mounted on the deck of the receiving vessel. The leg sensing structure is mounted on the gripping mechanism and is used to acquire information on the relative posture change between the gripping mechanism and the deck of the receiving vessel or the material receiving mechanism when in contact with the deck of the receiving vessel. This invention improves the automation and intelligence level of maritime barge operations, reduces reliance on manual operation, and improves the accuracy of material transfer.

Description

Technical Field

[0001] This invention relates to the field of marine replenishment technology, and more specifically, to an unmanned barge operation device, method, and replenishment vessel. Background Technology

[0002] Maritime transshipment refers to the operation of safely transferring supplies 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, and is of great significance to ensuring the continuity and efficiency of receiving ship operations at sea.

[0003] Currently, maritime transshipment operations are mostly conducted with manual assistance. For example, during resupply, operators use cranes on the supply ship to transfer supplies to their target locations on the receiving ship's deck. However, the complexity and variability of maritime conditions can easily interfere with operators, thus affecting the smooth progress of maritime transshipment operations. Summary of the Invention

[0004] The problem addressed by this invention is: how to improve the automation and intelligence level of rendezvous tasks, reduce reliance on manual operation, and improve the accuracy of material transfer.

[0005] To address the aforementioned problems, the present invention provides an unmanned barge operation device, method, and supply vessel.

[0006] In a first aspect, the present invention provides an unmanned barge operation device, comprising a lifting mechanism, a posture adjustment mechanism, a gripping mechanism, and a posture sensing mechanism. The lifting mechanism is mounted on a supply ship, and the boom of the lifting mechanism, the posture adjustment mechanism, and the gripping mechanism are sequentially connected. The posture sensing mechanism includes a visual sensing structure and a leg sensing structure. The visual sensing structure is disposed on at least one of the boom, the posture adjustment mechanism, and the gripping mechanism, and is used to acquire image information regarding the relative posture of a material receiving mechanism disposed on the deck of a receiving ship and the gripping mechanism. The leg sensing structure is disposed on the gripping mechanism and is used to acquire information regarding the relative posture change between the gripping mechanism and the deck of the receiving ship when in contact with the deck of the receiving ship, or to acquire information regarding the relative posture change between the gripping mechanism and the material receiving mechanism when in contact with the material receiving mechanism.

[0007] Optionally, the gripping mechanism includes an end platform connected to the posture adjustment mechanism, and a clamping structure disposed on the side of the end platform opposite to 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 disposed at the rotatable 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 disposed on the telescopic leg structure, and is used to monitor the length change information of the telescopic leg structure.

[0008] Optionally, the telescopic outrigger structure includes a rotating joint component, a first telescopic rod, a second telescopic rod, and a connecting support structure. The rotating joint component is rotatably connected to the end platform. One end of the first telescopic rod is rotatably connected to the rotating joint component, and one end of the second telescopic rod is rotatably connected to the rotating joint component. The other ends of the first and second telescopic rods are rotatably connected to each other via the connecting support structure. The rotation axes of the first and second telescopic rods are parallel to each other and perpendicular to the rotation axis of the rotating joint 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 disposed at the rotatable connection between the rotating joint component and the end platform. The displacement monitoring structure includes a first displacement monitoring structure and a second displacement monitoring structure. The first displacement monitoring structure is disposed on the first telescopic rod, and the second displacement monitoring structure is disposed on the second telescopic rod.

[0009] Optionally, the telescopic outrigger structure further includes an adsorption structure, which is disposed at the end of the connecting support structure opposite to 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 outrigger structure further includes a position sensing structure corresponding to the material receiving mechanism, the position sensing structure being disposed on at least one of the adsorption structure and the connecting support structure.

[0011] Optionally, the pose sensing mechanism includes at least three non-collinear leg sensing structures positioned on the grasping mechanism.

[0012] In a second aspect, the present invention also provides a supply vessel, including the unmanned barge operation device as described in the first aspect.

[0013] Thirdly, the present invention also provides an unmanned refueling operation method, based on the unmanned refueling operation device as described in the first aspect; the unmanned refueling operation method includes:

[0014] Retrieving supplies from the supply ship using a grabbing mechanism;

[0015] The boom of the driving lifting mechanism moves the position adjustment mechanism and the gripping mechanism to above the material receiving mechanism;

[0016] Drive the boom and / or the posture adjustment mechanism until the gripping mechanism descends to the adsorption structure of the telescopic outrigger structure of the outrigger sensing structure and adsorbs onto the target area corresponding to the material receiving mechanism; wherein, the target area is located on the material receiving mechanism, or on the deck of the receiving ship in the area where the material receiving mechanism is located;

[0017] The operating parameters of the telescopic outrigger structure are acquired in real time, and the relative pose change information of the gripping mechanism and the material receiving mechanism is determined based on the operating parameters.

[0018] Based on the relative pose change information, control at least one of the boom and the pose adjustment mechanism to perform follow-up compensation on the gripping mechanism, connect the gripping mechanism with the material receiving mechanism, and transfer the supply material to the material receiving mechanism.

[0019] Optionally, driving the boom and / or the posture adjustment mechanism until the gripping mechanism descends to the adsorption structure of the telescopic outrigger structure of the outrigger sensing structure adsorbs onto the target area corresponding to the material receiving mechanism includes:

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

[0021] Based on the image information, drive the boom and / or the pose adjustment mechanism to lower the gripping mechanism toward the target area;

[0022] When the gripping mechanism descends until the adsorption structure falls into the target area, the adsorption structure is controlled to adsorb in the target area.

[0023] Optionally, the operating parameters include the length change, length change speed, and length change acceleration of the telescopic outrigger structure, as well as the angle change, angle change speed, and angle change acceleration of the telescopic outrigger structure relative to the gripping mechanism.

[0024] The step of determining the relative pose change information between the grasping mechanism and the material receiving mechanism based on the operating parameters includes:

[0025] Based on the length change and the angle change, the first relative pose of the material receiving mechanism relative to the grasping mechanism is determined;

[0026] Based on the first relative pose, and the length change rate, the length change acceleration, the angle change rate, and the angle change acceleration, the second relative pose of the material receiving mechanism relative to the grasping mechanism is predicted.

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

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

[0029] The beneficial effects of the unmanned barge operation device, method, and supply vessel of the present invention are as follows: The unmanned barge operation device of the present invention significantly improves the automation and intelligence level of barge operations, enabling automated unmanned barge operations, reducing reliance on manual operation, and improving the accuracy of material transfer. Specifically, by setting up a crane, it provides the ability to vertically lift and horizontally swing materials. By setting up a posture adjustment mechanism, the boom of the crane mechanism is connected to the grabbing mechanism, and used to adjust the position and posture of the grabbing mechanism. By setting up the grabbing mechanism, materials are grabbed and held tightly during the material transfer process, ensuring the smooth progress of material replenishment. By incorporating a pose sensing mechanism, precise perception and feedback control of key positional information can be achieved under dynamic sea conditions. The visual sensing structure of this mechanism is installed on at least one of the boom, pose adjustment mechanism, and gripping mechanism to acquire real-time image information regarding the relative pose of the gripping mechanism with the material receiving mechanism or the receiving vessel deck. This provides global perception capabilities for the unmanned barge operation device. The outrigger sensing structure of the pose sensing mechanism senses real-time changes in the relative pose of the gripping mechanism with the material receiving mechanism or the receiving vessel deck upon contact with the receiving vessel deck or material receiving mechanism. This enables the perception of high-frequency movements or subtle displacements, compensating for the limitations of the visual sensing structure, which is susceptible to light and occlusion. Furthermore, the aforementioned image information and relative pose change information can be used as input to the boom and pose adjustment mechanism, guiding them to dynamically adjust the position and attitude of the gripping mechanism. This ensures accurate automated docking between the gripping mechanism and the material receiving mechanism even under complex sea conditions, thereby guaranteeing smooth material resupply and efficient completion of unmanned maritime barge operations. Attached Figure Description

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

[0031] Figure 2 for Figure 1 A magnified view of a section at point A in the middle;

[0032] Figure 3 This is a schematic diagram of the gripping mechanism in an embodiment of the present invention;

[0033] Figure 4 for Figure 3 A magnified view of a section at point B in the middle;

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

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

[0036] Figure 7 This is a flowchart illustrating the unmanned rendezvous operation method in an embodiment of the present invention;

[0037] Figure 8 This is a schematic diagram of the sub-process of step 300 in an embodiment of the present invention.

[0038] Figure label:

[0039] 1. Lifting mechanism; 11. Boom; 2. Posture adjustment mechanism; 3. Grabbing mechanism; 31. End platform; 32. Clamping structure; 4. Posture sensing mechanism; 41. Visual sensing structure; 42. Outrigger sensing structure; 421. Angle monitoring structure; 422. Displacement monitoring structure; 423. Telescopic outrigger structure; 423a. Rotary joint component; 423b. First telescopic rod; 423c. Second telescopic rod; 423d. Connecting support structure; 423e. Adsorption structure; 5. Supply vessel; 6. Receiving vessel; 7. Supply materials. Detailed Implementation

[0040] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

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

[0042] Combination Figure 1 , Figure 2 As shown, this embodiment of the 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. The lifting mechanism 1 is installed on a supply ship 5, and the boom 11, posture adjustment mechanism 2, and 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 installed on at least one of the boom 11, posture adjustment mechanism 2, and gripping mechanism 3, and is used to acquire image information about the relative posture of the material receiving mechanism 7 installed on the deck of the receiving ship 6 and the gripping mechanism 3. The leg sensing structure 41 is installed on the gripping mechanism 3 and is used to acquire 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 acquire 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 transshipment device is installed on the supply ship 5, specifically for automatically transferring the corresponding supply materials 8 from the supply ship 5 to the receiving ship 6, thereby realizing an efficient, stable, safe, accurate, automated and intelligent material transportation process (i.e., transshipment process).

[0044] Specifically, the lifting mechanism 1 of the unmanned transshipment operation device is a lifting machine (such as a boom 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 boom 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 on the receiving ship 6, thereby realizing the replenishment of materials to the receiving ship 6. The gripping mechanism 3 is used to grip and hold the materials during the material transfer process to ensure the smooth progress of material replenishment (or transshipment task). For example, the gripping mechanism 3 adopts a clamping structure 32 such as a robotic arm, which can automatically adjust the gripping force and method according to the different shapes and materials of the materials. The boom 11, the attitude adjustment mechanism 2, and the gripping mechanism 3 of the lifting mechanism 1 are connected in sequence. The attitude adjustment mechanism 2 is used to connect the boom 11 of the lifting mechanism 1 and the gripping mechanism 3. The lifting mechanism 1 provides the vertical lifting and horizontal swinging capabilities of the attitude adjustment mechanism 2 and the gripping mechanism 3, providing the hardware foundation for accurately transferring the supply materials 8 to the target position on the receiving ship 6. The attitude adjustment mechanism 2 is used to adjust the specific position and attitude of the gripping mechanism 3. For example, the attitude adjustment mechanism 2 adopts a six-degree-of-freedom robot such as a rope-driven parallel robot or a STEWART parallel robot to support the adjustment of the six degrees of freedom (i.e., vertical lifting, horizontal forward and backward displacement, horizontal left and right displacement, pitch, yaw, and roll) of the position and attitude of the gripping mechanism 3, thereby improving the ability of the unmanned barge operation device to cope with complex and changing sea conditions and ensuring that the gripping mechanism 3 can stably grab and accurately release materials to the target position on the receiving ship 6 under dynamic sea conditions.

[0045] The unmanned barge operation device includes a lifting mechanism 1, a posture adjustment mechanism 2, and a grabbing mechanism 3. To improve the automation and intelligence level of maritime barge operations, the device also includes a posture sensing mechanism 4, which is used to perceive the relative posture between the grabbing mechanism 3 and the material receiving mechanism 7, or the relative posture between the grabbing mechanism 3 and the deck of the material receiving mechanism 7 (the receiving vessel 6) in real time. 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 grabbing mechanism 3. It can be used to acquire image information about the relative posture between the supply vessel 5 and the receiving vessel 6, and the relative posture between the grabbing mechanism 3 and the material receiving mechanism 7 (or the deck of the material receiving mechanism 7) in real time. After analysis and processing, this image information can be used as input to the lifting mechanism 1 and the posture adjustment mechanism 2, so that the position and attitude of the grabbing mechanism 3 can be dynamically adjusted by the lifting mechanism 1 and the posture adjustment mechanism 2, ensuring that the docking between the grabbing mechanism 3 and the material receiving mechanism 7 can be accurately completed even in complex sea conditions, thus ensuring the smooth replenishment of materials. Meanwhile, considering that the visual perception structure relies on the field of view of image acquisition structures such as cameras, it may not be able to provide accurate position information when occlusion or external environment (such as bad weather or insufficient light) affects the imaging effect. Also, considering that relying on a single perception method in critical operations may pose risks, in order to further improve the stability and reliability of the unmanned barge operation device, the pose perception mechanism 4 also includes a leg perception structure 41. This structure is installed on the gripping mechanism 3 and, through contact perception, acquires (perceives) in real time the relative pose change information (such as angle deviation, relative displacement in the vertical and horizontal directions) of the gripping 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 under the current sea conditions. After analysis and processing, this relative pose change information can also be used as input for the lifting mechanism 1 and the pose adjustment mechanism 2, so that the position and attitude of the gripping mechanism 3 can be dynamically adjusted by the lifting mechanism 1 and the pose adjustment mechanism 2, further ensuring that the docking of the gripping mechanism 3 and the material receiving mechanism 7 can still be accurately completed under complex sea conditions, ensuring the smooth replenishment of materials.Thus, on the one hand, by setting up a visual perception structure, the wide-range perception capability of the visual perception structure is utilized, providing global perception capability for the unmanned barge operation device to be used for unmanned barge operations; on the other hand, the outrigger perception structure 41 obtains position information by directly contacting the deck or material receiving mechanism 7, without relying on optical imaging, so it is not affected by light, obstruction or sea conditions, and the outrigger perception structure 41 can capture the dynamic changes of vibration, tilt angle, etc. of the deck or material receiving mechanism 7 in real time, making up for the shortcomings of the visual perception structure in high-frequency motion or fine displacement detection. By setting up the outrigger perception structure 41, the accurate docking of the grasping mechanism 3 and the material receiving mechanism 7 can be ensured, and the ability of the unmanned barge operation device to cope with complex sea conditions can be improved; furthermore, by combining the visual perception structure and the outrigger perception structure 41, it is easy to realize the fusion of multi-source information, realize collaborative perception in complex environments, and even if one perception method fails, the continuity and safety of barge operation can still be maintained through another perception method.

[0046] In this way, the unmanned barge operation device significantly improves the automation and intelligence level of barge operations, enabling automated unmanned barge operations, reducing reliance on manual operation, and improving the accuracy of material transfer. Specifically, a crane is installed to provide vertical lifting and horizontal swinging capabilities for materials. A position adjustment mechanism 2 is installed to connect the boom 11 of the lifting mechanism 1 to the gripping mechanism 3, and is used to adjust the position and attitude of the gripping mechanism 3. By installing the gripping mechanism 3, materials are gripped and held tightly during the material transfer process, ensuring the smooth replenishment of materials. By setting up a pose sensing mechanism 4, it is used to achieve accurate perception and feedback control of key position information under dynamic sea conditions. The visual perception structure of the pose sensing mechanism 4 is installed on at least one of the boom 11, pose adjustment mechanism 2 and grasping mechanism 3, so as to acquire image information of the relative pose 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 barge operation device to be used for unmanned barge operation. The outrigger sensing structure 41 of the pose sensing mechanism 4 can perceive the relative pose change information of the grasping mechanism 3 and the material receiving mechanism 7 or the deck of the receiving ship 6 in real time when it contacts the deck of the receiving ship 6 or the material receiving mechanism 7, so as to realize the perception of high-frequency motion or subtle displacement, and make up for the shortcomings of the visual perception structure being susceptible to light and obstruction. Moreover, the aforementioned image information and relative pose change information can be used as inputs to the lifting mechanism 1 and the pose adjustment mechanism 2, guiding the lifting mechanism 1 and the pose adjustment mechanism 2 to dynamically adjust the position and attitude of the grasping mechanism 3, ensuring that the grasping mechanism 3 and the material receiving mechanism 7 can still be accurately docked under complex sea conditions, thereby ensuring the smooth replenishment of materials and the efficient completion of unmanned maritime docking missions.

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

[0048] In this embodiment, the gripping mechanism 3 grips and holds the supply material 8 through the clamping structure 32, and is connected to the posture adjustment mechanism 2 through the end platform 31. That is, the gripping mechanism 3 serves as the carrier of the clamping structure 32, and the posture adjustment mechanism 2, the end platform 31, and the clamping structure 32 are connected in sequence; and the clamping structure 32 is located on the side of the end platform 31 away from the posture adjustment mechanism 2 to facilitate gripping the supply material 8. In some embodiments, the end platform 31 may adopt a cubic structure or a frame structure.

[0049] To ensure accurate perception of the relative pose changes between the gripping mechanism 3 and the material receiving mechanism 7 or the deck of the receiving vessel 6 by the outrigger sensing structure 41, the telescopic outrigger structure 413, which has a variable (extendable) length and is rotatably connected to the end platform 31 of the gripping mechanism 3, can monitor the dynamic changes of the telescopic outrigger structure 413 when it comes into contact with the material receiving mechanism 7 or the deck of the receiving vessel 6. This monitoring includes parameters such as the length and angle changes of the telescopic outrigger structure 413. Based on these parameters, the relative pose changes between the end platform 31 (or the gripping mechanism 3, clamping structure 32) and the material receiving mechanism 7 or the deck of the receiving vessel 6 can be determined. This guides the crane mechanism 1 and the pose adjustment mechanism 2 to dynamically adjust the position and attitude of the end platform 31, ensuring accurate automated docking of the clamping structure 32 on the end platform 31 with the material receiving mechanism 7 even in complex sea conditions. This guarantees the smooth replenishment of materials and the efficient completion of unmanned maritime docking missions.

[0050] Specifically, the outrigger sensing structure 41 includes an angle monitoring structure 411, a displacement monitoring structure 412, and a telescopic outrigger 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 located at the rotatable connection between the end platform 31 and the telescopic outrigger structure 413, and is used to monitor the angle change information of the telescopic outrigger structure 413 relative to the end platform 31. The angle change information includes the angle change amount, the angle change rate, and the angle change acceleration (i.e., the rate of change of the angle change rate). The displacement monitoring structure 412 is located on the telescopic outrigger structure 413, and can use sensors for determining the length change of the telescopic outrigger structure 413, such as a displacement sensor (or distance sensor), a displacement velocity sensor, and a displacement acceleration sensor, to monitor the length change information of the telescopic outrigger structure 413 during extension and retraction. The length change information includes the length change amount, the length change rate, and the length change acceleration (i.e., the rate of change of the length change rate). When the unmanned barge operation device is used for offshore barge operations, when the telescopic outrigger structure 413 contacts the deck of the receiving vessel 6 or the material receiving mechanism 7, the telescopic outrigger structure 413 can move together with the deck of the receiving vessel 6 or the material receiving mechanism 7, thereby causing corresponding telescopic changes and angle changes relative to the end platform 31. By acquiring the corresponding changes through the angle monitoring structure 411 and the displacement monitoring structure 412 respectively, the relative posture change information between the end platform 31 and the deck of the receiving vessel 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 attitude of the end platform 31, thereby realizing the dynamic adjustment of the position and attitude of the clamping structure 32, realizing the accurate perception and real-time adjustment of key position information, realizing the compensation for motion deviations caused by dynamic sea conditions (such as wind and waves compensation), significantly improving the stability and docking accuracy of the unmanned barge operation device, thereby ensuring the smooth progress of material transfer tasks.

[0051] Optionally, combined Figures 3-6As shown, the telescopic outrigger structure 413 includes a rotary joint component 413a, a first telescopic rod 413b, a second telescopic rod 413c, and a connecting support structure 413d. The rotary joint component 413a is rotatably connected to the end platform 31. One end of the first telescopic rod 413b is rotatably connected to the rotary joint component 413a, and one end of the second telescopic rod 413c is rotatably connected to the rotary joint component 413a. The other end of the first telescopic rod 413b and the other end of the second telescopic rod 413c are connected to the other end of the second telescopic rod 413c through the connecting support structure. 413d is rotatably connected; and the first telescopic rod 413b is parallel to the rotation axis of the rotary joint component 413a, the second telescopic rod 413c is parallel to the rotation axis of the rotary joint component 413a, and the first telescopic rod 413b is parallel to the rotation axis of the connecting support structure 413d, and all are perpendicular to the rotation axis of the rotary joint component 413a and the end platform 31; the rotation axis of the second telescopic rod 413c is coincident with the rotation axis of the first telescopic rod 413b and the connecting support structure 413d;

[0052] Angle monitoring structure 411 is installed at the rotational connection between the rotary joint component 413a and the end platform 31. 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 installed on the first telescopic rod 413b, and the second displacement monitoring structure 412 is installed on the second telescopic rod 413c.

[0053] In this embodiment, to improve the structural stability of the telescopic outrigger structure 413 while reducing its structural complexity and manufacturing cost, the telescopic outrigger structure 413 includes a rotating joint component 413a, a first telescopic rod 413b, a connecting support structure 413d, and a second telescopic rod 413c connected in sequence. The rotating joint component 413a, the first telescopic rod 413b, the second telescopic rod 413c, and the connecting support structure 413d form a triangular structure (or a similar triangular structure) to improve the structural stability of the telescopic outrigger structure 413. One end of the first telescopic rod 413b rotates with the rotating joint component 413a. The first telescopic rod 413b is rotatably connected to the rotating joint component 413a at one end, and the rotatable connection points of the first telescopic rod 413b and the rotating joint component 413a, and the second telescopic rod 413c and the rotating joint component 413a are spaced apart on the rotating joint component 413a. In other words, the rotating joint component 413a serves as one side of the aforementioned 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. In other words, the first telescopic rod 413b and the second telescopic rod 413c serve as the other two sides of the aforementioned triangular structure. Rotary joint component 413a is rotatably connected to the corresponding component (or part) of the end platform 31 to form a rotary joint (or rotating joint), thereby realizing the rotatable connection between the telescopic outrigger 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 the deck of the receiving ship 6 or the material receiving mechanism 7 during the offshore barge operation, thereby realizing the contact between the telescopic outrigger structure 413 and the deck of the receiving ship 6 or the material receiving mechanism 7 during the offshore barge operation.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 joint component 413a, the rotation axis of the second telescopic rod 413c and the rotating joint component 413a, and the rotation axis of the first telescopic rod 413b and the connecting support structure 413d are parallel to each other and perpendicular to the rotation axis of the rotating joint 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. This ensures 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 not obstructed. Under changing conditions, the telescopic outrigger structure 413 achieves six degrees of freedom servo movement relative to the deck of the receiving vessel 6 or the material receiving mechanism 7 by extending and retracting the first telescopic rod 413b, extending and retracting the second telescopic rod 413c, rotating the rotary sub-component 413a relative to the end platform 31, rotating the first telescopic rod 413b relative to the connecting support structure 413d, and rotating the second telescopic rod 413c relative to the connecting support structure 413d. This facilitates accurate acquisition of the relative posture change information between the end platform 31 and the material receiving mechanism 7 or the deck of the receiving vessel 6, determines the relative posture change information between the clamping structure 32 and the material receiving mechanism 7 or the deck of the receiving vessel 6, and improves the stability, safety, and accuracy of offshore barge operations.

[0054] Accordingly, an angle monitoring structure 411 is installed at the rotational connection between the rotating joint component 413a and the end platform 31 to monitor the angular change of the rotating joint component 413a relative to the end platform 31, thereby obtaining the angular change of the telescopic outrigger structure 413 relative to the end 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 installed on the first telescopic rod 413b to monitor the change in the telescopic length of the first telescopic rod 413b; the second displacement monitoring structure 412 is installed on the second telescopic rod 413c to monitor the change in the telescopic length of the second telescopic rod 413c. This ensures the accurate acquisition of information regarding the relative posture changes between the gripping mechanism 3 and the material receiving mechanism 7 or the deck of the receiving vessel 6.

[0055] Optionally, combined Figure 5 , Figure 6As shown, the changes in the extension and retraction lengths of the first telescopic rod 413b and the second telescopic rod 413c can also be obtained based on a spring. For example, the first telescopic rod 413b includes a spring and a fixed rod and a sliding rod that are slidably connected. The spring is sleeved on the fixed rod and the sliding rod, and both ends of the spring are connected to the fixed rod and the sliding rod, respectively. By monitoring the magnitude and direction of the spring force, the changes in the extension and retraction length of the first telescopic rod 413b can be calculated. Combined with the time elapsed during the changes in the extension and retraction length of the first telescopic rod 413b, the speed and acceleration of the changes in the extension and retraction length of the first telescopic rod 413b can be determined. Furthermore, by incorporating a spring, the first telescopic rod 413b can also have extension and retraction margins and an automatic reset function.

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

[0057] Optionally, multiple outrigger sensing structures 41 are provided, and the rotating joint components 413a of the multiple outrigger sensing structures 41 are arranged circumferentially along the end platform 31 of the gripping mechanism 3. For example, the multiple rotating joint components 413a are respectively rotatably connected to multiple shafts arranged circumferentially along the end platform 31, and the two ends of each rotating joint component 413a are rotatably connected to the corresponding shaft to improve the stability when the rotating joint component 413a is connected to the corresponding shaft. Correspondingly, the angle monitoring structure 411 is provided at the rotatable connection between the rotating joint component 413a and the end platform 31. For example, two angle monitoring structures 411 are respectively provided at the rotatable connection between the two ends of the rotating joint component 413a and the corresponding shaft, and are used to measure the angle, angular velocity, and angular acceleration values ​​of the rotating joint component 413a relative to the shaft (or 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 rotary joint component 413a through pins. The first displacement monitoring structure 412 is set on or inside 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 set on or inside the second telescopic rod 413c and is used to measure the length change information of the second telescopic rod 413c. The other ends of the first telescopic rod 413b and the second telescopic rod 413c are respectively rotatably connected to the connecting support structure 413d through pins.

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

[0059] In this embodiment, to further improve the stability of the telescopic outrigger structure 413 during the offshore barge operation, the telescopic outrigger structure 413 also includes an adsorption structure 413e. The adsorption structure 413e is disposed 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 outrigger contacts the deck of the receiving vessel 6 or the material receiving mechanism 7. That is, the adsorption structure 413e is used to adsorb onto the deck of the receiving vessel 6 or the material receiving mechanism 7, thereby improving the stability at the time of contact and avoiding the outrigger position shift caused by external forces (such as waves, wind, etc.), ensuring that the acquired relative posture change information can truly reflect the actual relative posture change between the grabbing mechanism 3 and the material receiving mechanism 7 or the deck of the receiving vessel 6.

[0060] For example, the adsorption structure 413e can be 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 generate electromagnetic attraction to firmly connect with the corresponding metal surface of the receiving ship 6 deck or the material receiving mechanism 7. The power supply of the electromagnetic adsorption structure 413e can be controlled to turn the adsorption force on or off as needed. When the adsorption structure 413e adopts a vacuum adsorption structure 413e, the adsorption structure 413e achieves the adsorption function by forming a negative pressure area at the contact position. The air pressure at the contact position of the vacuum adsorption structure 413e can be controlled to provide or remove the adsorption force as needed. For example, the vacuum adsorption structure 413e includes a suction cup, a pipe communicating with the internal space of the suction cup, and a vacuum pump. The vacuum pump extracts the air in the internal space of the suction cup when the suction cup contacts the receiving ship 6 deck or the material receiving mechanism 7 to provide the adsorption force, and the vacuum pump supplies air to the internal space of the suction cup to remove the adsorption force.

[0061] Furthermore, based on the fact that the axis of the adsorption structure 413e is perpendicular to its adsorption plane (such as the plane used to contact the adsorption structure 413e on the deck of the receiving ship 6 or the material receiving mechanism 7), 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. This ensures that the distances 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 are constant values. This constant value is the distance between the first telescopic rod 413b and the connecting support structure 413d. The height of the rotating shaft of the connecting support structure 413d, the second telescopic rod 413c, and the rotating shaft of the connecting support structure 413d relative to the adsorption plane of the adsorption structure 413e provides a basis for accurately calculating the relative positional change information between the gripping mechanism 3 (or clamping structure 32) and the material receiving mechanism 7 or the deck of the receiving ship 6 based on parameters such as the extension and retraction changes of the first telescopic rod 413b, the extension and retraction changes of the second telescopic rod 413c, the rotational change of the rotating pair component 413a relative to the gripping mechanism 3 (or end platform 31), the rotational change of the first telescopic rod 413b relative to the connecting support structure 413d, the rotational change of the second telescopic rod 413c relative to the connecting support structure 413d, and the aforementioned fixed values.

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

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

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

[0065] Thus, by setting a position sensing structure on the telescopic outrigger structure 413, the detection accuracy and response speed of the docking position of the telescopic outrigger structure 413 during the offshore barge operation can be significantly improved. This facilitates the accurate acquisition of the relative posture change information between the grabbing mechanism 3 and the material receiving mechanism 7 or the deck of the receiving ship 6, improves the attitude adjustment efficiency of the telescopic outrigger structure 413, reduces the risk of docking failure, and ensures the stability, safety and accuracy of the unmanned barge operation device in complex sea conditions.

[0066] Optionally, the pose sensing mechanism 4 includes at least three leg sensing structures 41 that are not collinearly positioned on the grasping mechanism 3.

[0067] In this embodiment, a plane is defined based on three non-collinear points. To accurately obtain the relative pose change information between the gripping mechanism 3 and the material receiving mechanism 7 or the deck of the receiving vessel 6, the pose sensing mechanism 4 is equipped with at least three non-collinear outrigger sensing structures 41 on the gripping mechanism 3 (or end platform 31). That is, for the multiple outrigger sensing structures 41 set on the gripping mechanism 3, at least three telescopic outrigger structures 413 are non-collinear in their setting positions on the gripping mechanism 3. In this way, the pose sensing mechanism 4 can cover (sensor) pose changes in different directions through at least three outrigger sensing structures 41, thereby improving the detection coverage and data accuracy of the pose sensing mechanism 4. In addition, by setting at least three outrigger sensing structures 41, it is convenient to provide stable support for the gripping mechanism 3 on the deck of the material receiving mechanism 7 or the receiving vessel 6.

[0068] For example, the pose sensing mechanism 4 is provided with three non-collinear outrigger sensing structures 41 on the end platform 31 of the gripping mechanism 3. When all three outrigger sensing structures 41 are supported on the deck of the receiving vessel 6 or the material receiving mechanism 7, the contact positions of the three outrigger sensing structures 41 with the deck of the receiving vessel 6 or the material receiving mechanism 7 are also non-collinear. In this way, the contact positions of the three outrigger sensing structures 41 with the deck of the receiving vessel 6 or the material receiving mechanism 7 can be determined based on the structural parameters and dynamic changes of the telescopic outrigger structures 413 of the outrigger sensing structures 41. The relative pose changes between the two planes (corresponding to the deck of the receiving vessel 6 or the material receiving machine) and the plane formed by the positions of the three outrigger sensing structures 41 on the end platform 31 (corresponding to the end platform 31) are determined. This determines the relative pose change information between the end platform 31 (or the gripping mechanism 3) and the material receiving mechanism 7 or the deck of the receiving vessel 6, thereby determining the relative pose change information between the clamping structure 32 set on the end platform 31 and the material receiving mechanism 7, providing a basis for the accurate docking of the gripping structure 32 of the gripping mechanism 3 and the material receiving mechanism 7.

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

[0070] In this embodiment, by adopting the aforementioned unmanned barge operation device, the supply ship 5 can significantly improve its automation and intelligence level in maritime barge operations, enabling automated unmanned barge operations, reducing reliance on manual operation, and improving the accuracy of material transfer. Specifically, a crane is installed to provide vertical lifting and horizontal swinging capabilities for materials. A position adjustment mechanism 2 is installed to connect the boom 11 of the lifting mechanism 1 to the gripping mechanism 3, and is used to adjust the position and attitude of the gripping mechanism 3. By installing the gripping mechanism 3, materials are gripped and held tightly during the material transfer process, ensuring the smooth progress of material replenishment. By setting up a pose sensing mechanism 4, it is used to achieve accurate perception and feedback control of key position information under dynamic sea conditions. The visual perception structure of the pose sensing mechanism 4 is installed on at least one of the boom 11, pose adjustment mechanism 2 and grasping mechanism 3, so as to acquire image information of the relative pose 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 barge operation device to be used for unmanned barge operation. The outrigger sensing structure 41 of the pose sensing mechanism 4 can perceive the relative pose change information of the grasping mechanism 3 and the material receiving mechanism 7 or the deck of the receiving ship 6 in real time when it contacts the deck of the receiving ship 6 or the material receiving mechanism 7, so as to realize the perception of high-frequency motion or subtle displacement, and make up for the shortcomings of the visual perception structure being susceptible to light and obstruction. Moreover, the aforementioned image information and relative pose change information can be used as inputs to the lifting mechanism 1 and the pose adjustment mechanism 2, guiding the lifting mechanism 1 and the pose adjustment mechanism 2 to dynamically adjust the position and attitude of the grasping mechanism 3, ensuring that the grasping mechanism 3 and the material receiving mechanism 7 can still be accurately docked under complex sea conditions, thereby ensuring the smooth replenishment of materials and the efficient completion of unmanned maritime docking missions.

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

[0072] Step 100: Grab the supply materials 8 from the supply ship 5 using the grabbing mechanism 3.

[0073] Specifically, when using an unmanned barge operation device for unmanned barge operations at sea, the grabbing mechanism 3 in the unmanned barge operation device first grabs the supply materials 8 for the receiving ship 6 from the corresponding material storage area on the deck of the supply ship 5. During this process, the grabbing mechanism 3 can be smoothly moved to the material storage area to grab the materials by driving the boom 11 of the lifting mechanism 1 and / or the posture adjustment mechanism 2; 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 a visual perception structure, in conjunction with the grabbing mechanism 3 to achieve unmanned and automated operation. In some embodiments, the clamping force (or suction force, such as the grabbing mechanism 3 using suction to transport materials) of the grabbing mechanism 3 can be adjusted according to the characteristics of the supply materials 8 (such as shape, weight, and material) to ensure that the supply materials 8 are firmly grasped.

[0074] Step 200: Drive the boom 11 of the driving lifting mechanism 1 to move the position adjustment mechanism 2 and the gripping mechanism 3 to above the material receiving mechanism 7.

[0075] Specifically, after the grabbing mechanism 3 successfully grabs the supply materials 8 on the supply ship 5, it can drive the boom 11 of the lifting mechanism 1 to move accordingly (such as rotation and lifting), 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), which facilitates 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 pose adjustment mechanism 2 until the gripping mechanism 3 descends to the adsorption structure 413e of the telescopic outrigger structure 413 of the outrigger sensing structure 41 and adsorbs onto the target area corresponding to the material receiving mechanism 7; wherein the target area is located on the material receiving mechanism 7, or on the deck of the receiving vessel 6 in the area where the material receiving mechanism 7 is located.

[0077] Specifically, after the posture adjustment mechanism 2 and the gripping mechanism 3 move above the material receiving mechanism 7, the gripping 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 accordingly. This target area can be the 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. The gripping mechanism 3 will continue to descend until the extension leg structure 413e of the outrigger sensing structure 41 is attached to the target area corresponding to the material receiving mechanism 7, thus achieving stable contact between the extension leg structure 413 and the material receiving mechanism 7 or the deck of the receiving ship 6. This prevents the contact position between the extension leg structure 413 and the material receiving mechanism 7 or the deck of the receiving ship 6 from shifting 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 gripping mechanism 3 and the material receiving mechanism 7 or the deck of the receiving ship 6, and improving the accuracy of subsequent follow-up compensation.

[0078] Step 400: Obtain the operating parameters of the telescopic outrigger structure 413 in real time, and determine the relative pose change information of the gripping mechanism 3 and the material receiving mechanism 7 based on the operating parameters.

[0079] Specifically, at least the real-time operating parameters of the outrigger sensing structure 41 are acquired (collected) through the angle monitoring structure 411 and displacement monitoring structure 412 of the outrigger sensing structure 41. For example, the displacement monitoring structure 412 collects parameters such as the change in length of the telescopic outrigger structure 413 and the speed and acceleration of the length change. The angle monitoring structure 411 collects parameters such as the change in angle of the telescopic outrigger structure 413 relative to the gripping mechanism 3 and the speed and acceleration of the angle change. Based on these parameters (calculation), the relative pose change information between the gripping mechanism 3 and the material receiving mechanism 7 can be determined. Based on these parameters (calculation), the relative pose between the gripping mechanism 3 and the deck of the receiving ship 6 can be determined. Combined with the position of the material receiving mechanism 7 on the deck of the receiving ship 6, the relative pose change information between the gripping mechanism 3 and the material receiving mechanism 7 can be determined. The determined relative position and orientation change information of the grabbing mechanism 3 and the material receiving mechanism 7 is used to guide the subsequent follow-up compensation, that is, to guide the crane mechanism 1 and the orientation adjustment mechanism 2 to dynamically adjust the position and attitude of the grabbing mechanism 3, so as to ensure that the automated docking of the grabbing mechanism 3 and the material receiving mechanism 7 can be accurately completed under complex sea conditions, thereby ensuring the smooth replenishment of materials and the efficient completion of the unmanned transshipment mission at sea.

[0080] Step 500: Based on the relative pose change information, control at least one of the boom 11 and the pose adjustment mechanism 2 to perform follow-up compensation on the gripping mechanism 3, dock the gripping 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 and the material receiving mechanism 7 are docked. During the docking process, based on 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, completing the supply of materials from the supply ship 5 to the receiving ship 6, and completing the unmanned barge operation. During the follow-up compensation of the grabbing mechanism 3 during docking, at least one of the boom 11 and the posture adjustment mechanism 2 adjusts the posture of the grabbing mechanism 3, enabling the grabbing mechanism 3 and the material receiving mechanism 7 to maintain follow-up in the non-operational direction. That is, the grabbing mechanism 3 and the material receiving mechanism 7 are relatively stationary (or nearly stationary) in the non-operational direction, while moving normally (or nearly so) in the operation direction (i.e., the docking direction). This enhances the unmanned barge operation device's ability to cope with complex and changing sea conditions, ensuring that the grabbing mechanism 3 can stably grab and accurately release materials to the target location (i.e., the material receiving mechanism 7) within the target area on the receiving ship 6 under dynamic sea conditions. In some embodiments, if the dynamic relative displacement between the gripping mechanism 3 and the material receiving mechanism 7 is small, the posture adjustment mechanism 2 alone can independently perform the follow-up compensation of the gripping mechanism 3; however, if the dynamic relative displacement between the gripping mechanism 3 and the material receiving mechanism 7 exceeds the compensation capability range of the posture adjustment mechanism 2, the lifting mechanism 1 needs to participate in the follow-up compensation of the gripping mechanism 3, such as by cooperating with the lifting mechanism 1 and the posture adjustment mechanism 2 to perform the follow-up compensation of the gripping mechanism 3.

[0082] Thus, the method in this embodiment, based on an unmanned barge operation device, significantly improves the automation and intelligence level of barge operations, realizes automated unmanned barge operations, reduces reliance on manual operation, and improves the accuracy of material transfer.

[0083] Optionally, prior to step 100, the unmanned docking operation method further includes:

[0084] Structural design of unmanned barge operation device;

[0085] Simulation verification was performed on the designed unmanned barge operation device;

[0086] Based on the simulation verification results, the structural design of the unmanned barge operation device was optimized.

[0087] In this embodiment, a systematic structural design, simulation verification, and optimization are carried out for the unmanned barge operation device required for the unmanned barge operation method to ensure that the structural design of the final unmanned barge operation device meets the performance requirements of unmanned barge operation. In some embodiments, the structural design of the unmanned barge operation device needs to consider factors such as the maximum relative speed of deck movement between barge vessels under complex sea conditions and the limit perception space of the outriggers. The preliminary design structure needs to be simulated under different sea conditions, and the structure is optimized based on the simulation verification results. After optimization, simulation and structural optimization are continued, and this cycle is repeated until the optimal configuration scheme of the unmanned barge 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 pose perception mechanism 4, obtain image information about the relative pose of the grasping mechanism 3 and the target area;

[0090] Step 320: Based on the image information, drive the boom 11 and / or the pose adjustment mechanism 2 to make the gripping mechanism 3 descend toward the target area;

[0091] Step 330: When the gripping mechanism 3 descends to the target area where the adsorption structure 413e falls, control the adsorption structure 413e to adsorb in the target area.

[0092] In this embodiment, for step 300, the relative pose information of the grasping mechanism 3 and the target area corresponding to the material receiving mechanism 7 on the receiving ship 6 is first acquired in real time using the visual perception structure in the pose perception mechanism 4. Then, the image information is analyzed and processed, such as by using a preset feature recognition algorithm (e.g., color marking, shape detection, edge detection) to determine the relative pose (including relative distance and direction) of the grasping mechanism 3 and the target area corresponding to each frame of image information. Based on this relative pose, the (descending) motion path of the grasping mechanism 3 can be planned, and the position and attitude of the grasping mechanism 3 can be adjusted by driving the boom 11 and / or the pose adjustment mechanism 2 to ensure that the grasping mechanism 3 descends towards the target area along the motion path. Subsequently, when the gripping mechanism 3 descends until the adsorption structure 413e of the telescopic outrigger structure 413 lands on the deck of the material receiving mechanism 7 or the receiving vessel 6, the position sensing structure of the telescopic outrigger structure 413 can determine whether the adsorption structure 413e has accurately landed in the target area. If so, the adsorption structure 413e is controlled to adsorb in the target area, that is, to complete the adsorption operation at the target position, so as to achieve stable contact between the telescopic outrigger structure 413 and the deck of the material receiving mechanism 7 or the receiving vessel 6 in the target area. This avoids the contact position of the telescopic outrigger structure 413 and the target area being deviated 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 gripping mechanism 3 and the deck of the material receiving mechanism 7 or the receiving vessel 6, and improving 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 to the point where the adsorption structure 413e of the telescopic outrigger structure 413 lands on the deck of the material receiving mechanism 7 or the receiving ship 6, it is determined whether the adsorption structure 413e has accurately landed in the target area.

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

[0096] Specifically, when the gripping mechanism 3 descends until the adsorption structure 413e of the telescopic outrigger structure 413 lands on the deck of the material receiving mechanism 7 or the receiving vessel 6, the position sensing structure of the telescopic outrigger structure 413 can determine whether the adsorption structure 413e has accurately landed in the target area. If not, the position of the gripping mechanism 3 is adjusted to land in the target area. In some embodiments, when adjusting the position of the gripping mechanism 3 to land in the target area, the gripping mechanism 3 can be raised first, thereby raising the telescopic outrigger structure 413 mounted on the gripping mechanism 3 together, providing sufficient space for 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. The lifting height can be automatically calculated and controlled based on the detected offset (i.e., the offset of the adsorption structure 413e relative to the target area), and usually it is only necessary to lift the adsorption structure 413e away from the target area by a certain safe distance.

[0097] Optionally, the operating parameters include the length change, length change speed, and length change acceleration of the telescopic outrigger structure 413, as well as the angle change, angle change speed, and angle change acceleration of the telescopic outrigger structure 413 relative to the gripping mechanism 3.

[0098] The relative pose change information between the gripping mechanism 3 and the material receiving mechanism 7, determined based on the operating parameters, includes:

[0099] Based on the changes in length and angle, determine the first relative pose of the material receiving mechanism 7 relative to the grasping mechanism 3;

[0100] Based on the first relative pose, as well as the length change rate, length change acceleration, angle change rate, and angle change acceleration, the second relative pose of the material receiving mechanism 7 relative to the grasping mechanism 3 is predicted.

[0101] Based on the first relative pose, as well as the length change, length change acceleration, angle change and angle change acceleration, the second relative pose 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 rate, and length change acceleration of the telescopic outrigger structure 413, as well as the angle change, angle change rate, and angle change acceleration of the telescopic outrigger structure 413 relative to the gripping mechanism 3. Based on these operating parameters, the current state and movement trend of the telescopic outrigger structure 413 can be accurately determined, and the relative pose change information between the gripping mechanism 3 and the material receiving mechanism 7 can be determined accordingly. Among them, the length change, length change rate, and length change acceleration can all be measured in real time by the displacement monitoring structure 412 installed on the telescopic outrigger structure 413; the angle change, angle change rate, and angle change acceleration can all be measured in real time by the angle monitoring structure 411 installed at the rotational connection between the telescopic outrigger structure 413 and the gripping mechanism 3 (or the end platform 31).

[0103] When determining the relative pose change information between the grasping mechanism 3 and the material receiving mechanism 7, firstly, based on the length change and angle change of the telescopic outrigger structure 413, the corresponding outrigger kinematic model of the telescopic outrigger structure 413 is input, and the relative pose of the material receiving mechanism 7 relative to the grasping mechanism 3 is output (denoted as the first relative pose). Then, based on the equation obtained after two differentiations of the first relative pose, combined with the length change velocity, length change acceleration, angle change velocity, and angle change acceleration of the telescopic outrigger structure 413, and input into the corresponding model, the subsequent pose change of the material receiving mechanism 7 relative to the grasping mechanism 3 can be predicted, i.e., the subsequent relative pose of the material receiving mechanism 7 relative to the grasping mechanism 3 can be predicted (denoted as the second relative pose). For example, by establishing a dynamic model containing the motion relationship between the grasping mechanism 3 and the material receiving mechanism 7, and using the operating parameters as input, the relative pose of the material receiving mechanism 7 at future moments can be predicted using kinematic and dynamic formulas.

[0104] The operating parameters used to determine the relative pose change information between the grasping mechanism 3 and the material receiving mechanism 7 are derived from at least three non-collinear leg sensing structures 41 of the pose sensing mechanism 4, in order to improve the efficiency of determining the relative pose change information and ensure the accuracy of the obtained relative pose change information.

[0105] Step 500 includes:

[0106] Control at least one of the boom 11 and the position adjustment mechanism 2 to perform follow-up compensation on the gripping mechanism 3 based on the second relative position, dock the gripping 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 pose and attitude between the gripping mechanism 3 and the material receiving mechanism 7 will constantly change due to external influences (such as wind, waves, vibration, etc.), the gripping mechanism 3 needs to respond quickly to the movement of the material receiving mechanism 7 to achieve precise docking. However, relying solely on the real-time feedback of the pose sensing mechanism 4 often results in time delays, which cannot meet the needs of rapidly changing dynamic environments. Therefore, using predicted values ​​(second relative pose) to guide the follow-up compensation of the gripping mechanism 3 can provide advance guidance on the pose of the gripping mechanism 3 based on the predicted future position and attitude of the material receiving mechanism 7. This allows the gripping mechanism 3 to complete position and attitude adjustments when or before the corresponding future state arrives, thereby reducing hysteresis effects and improving response speed and control accuracy.

[0108] During the docking process, when the grabbing mechanism 3 is compensated for, the position of the grabbing mechanism 3 is adjusted by at least one of the boom 11 and the position adjustment mechanism 2, so that the grabbing mechanism 3 and the material receiving mechanism 7 can keep moving in the non-operation direction. That is, the grabbing mechanism 3 and the material receiving mechanism 7 are relatively stationary (or nearly stationary) in the non-operation direction, while moving normally (or nearly stationary) in the operation direction (i.e., docking direction), so as to realize the precision operation of transferring the supply material 8, thereby improving the ability of the unmanned barge 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.

[0109] For example, in the unmanned docking operation method, when the gripping mechanism 3 is moved to a general area above the material receiving mechanism 7 (or the target area), with the assistance of the visual sensing structure, the posture of the gripping mechanism 3 can be adjusted so that the gripping mechanism 3 and the material receiving mechanism 7 keep moving in the non-operational direction. When the gripping 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 activated to sense the deviation between the telescopic outrigger structure 413 and the target area, guiding the subsequent posture adjustment of the gripping mechanism 3. When the adsorption structure 413e of all telescopic outrigger structures 413 is within the target area, the adsorption structure 413e is adsorbed (e.g., adsorbed onto the deck or the material receiving mechanism 7). Suppose that at this time, due to factors such as wave motion, the end platform 31 of the gripping mechanism 3 is not relatively parallel to the material receiving mechanism 7, then the sensing structure can be turned off, and the angle monitoring structure 411 and displacement monitoring structure 412 of the outrigger sensing structure 41 can be activated.

[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 installed on the second telescopic rod 413c.

[0111] The process of solving for relative pose 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 outrigger structure 413 will generate corresponding length changes. The displacement monitoring structure 412, used to monitor the length change information, measures the length L1 of the first telescopic rod 413b and the length L2 of the second telescopic rod 413c (e.g., ...). Figure 6 As shown), since the distance from one end of the first telescopic rod 413b used to connect the rotating joint member 413a to the end of the second telescopic rod 413c used to connect the rotating joint member 413a is a constant value h0 (as shown in the figure), Figure 6 As shown, the rotary joint component 413a, the first telescopic rod 413b, and the second telescopic rod 413c form a triangular structure with one side of fixed length and the other two sides of variable length. Using the cosine theorem, the relative height H (i.e., the vertical distance) and distance S (i.e., the horizontal distance) between the hinge point of the second telescopic rod 413c (or the first telescopic rod 413b) and the rotary joint component 413a and 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 gripping mechanism 3 and the material receiving mechanism 7 move relative to each other, the telescopic outrigger structure 413 may rotate at a certain angle relative to the end platform 31. The angle monitoring structure 411 will measure the angle change information. To avoid the error amplification problem caused by calculating speed or acceleration through numerical differentiation of displacement or angle changes, for the corresponding speeds (such as the speed of length change in length change information, the speed of angle change in angle change information) and accelerations (such as the acceleration of length change in length change information, the acceleration of angle change in angle change information), the corresponding displacement velocity sensor and displacement acceleration sensor in displacement monitoring structure 412 can be used to directly obtain the speed of length change and the acceleration of length change, respectively. Similarly, the corresponding angular velocity sensor and angular acceleration sensor in angle monitoring structure 411 can be used to directly obtain the speed of angle change and the acceleration of angle change, respectively. This provides more accurate operating parameters, reduces error accumulation, and enables more precise acquisition (or prediction) of the movement trend of the telescopic outrigger. Based on the above derivation process, a coordinate system for the gripping mechanism 3 and kinematic equations for the telescopic outrigger structure 413 can be established. Substituting the measured values ​​of the displacement monitoring structure 412 and the angle monitoring structure 411, the coordinate positions of the hinge points of each telescopic outrigger 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 face of the material receiving mechanism 7). It is known that the adsorption structure 413e connected to the connecting support structure 413d always remains perpendicular to the contact surface. Therefore, the coordinates of the hinge points are respectively subtracted by the unit normal vector of the contact surface and the height h of the hinge point from the contact surface (e.g., ...). Figure 6As shown, h is a constant. The product of these values ​​yields the coordinates of the contact point between the adsorption structure 413e and the contact surface. Further, the position and pose (i.e., relative pose) of the center point of the material receiving mechanism 7 in the coordinate system of the gripping mechanism 3 can be obtained. Therefore, by measuring the displacement monitoring structure 412 and the angle monitoring structure 411 at any given time, the relative pose of the material receiving mechanism 7 relative to the gripping mechanism 3 at any given time can be calculated (during material transfer, the material receiving mechanism 7 can be considered as fixed on the deck). Furthermore, based on the corresponding measurements of the displacement monitoring structure 412 and the angle monitoring structure 411, the movement trend of the telescopic outrigger structure 413 can be predicted, thereby predicting the relative pose change trend of the material receiving mechanism 7 relative to the gripping mechanism 3. This provides a more accurate guideline for the follow-up compensation of the gripping mechanism 3, allowing for the prediction of the pose trend and trajectory of the material receiving mechanism 7 over a future period.

[0112] In summary, the method of this embodiment can realize the perception and prediction of the pose of the material receiving mechanism 7, and adjust the pose of the grasping mechanism 3 in real time according to the predicted value, so as to realize that the grasping mechanism 3 and the material receiving mechanism 7 keep moving together in the non-operation direction, and realize active wave compensation for the grasping mechanism 3, thereby accurately transferring materials and meeting the mission requirements of unmanned autonomous barge transport in complex sea conditions.

[0113] Optionally, when determining relative pose change information, the operating parameters of any three non-collinear outrigger sensing structures 41 in the pose sensing mechanism 4 on the grasping mechanism 3 can be used as a parameter set. The relative pose change information can then be calculated based on this parameter set. When the number of outrigger sensing structures 41 in the pose sensing mechanism 4 is greater than three, multiple parameter sets can be constructed. Redundant measurement of relative pose change information can be achieved based on multiple parameter sets, effectively avoiding the situation where the unmanned docking device cannot operate normally due to a malfunction of a single outrigger sensing structure 41. Simultaneously, by calculating and comparing the relative pose change information corresponding to multiple parameter sets, the validity of the results can be verified. If significant anomalies are found in the calculation results between parameter sets, abnormal data can be eliminated, further improving measurement accuracy and system reliability. Furthermore, based on the parameter set corresponding to abnormal data, the faulty outrigger sensing structure 41 can be quickly located, enabling fault identification and diagnosis, thereby ensuring the stable operation of the system.

[0114] Optionally, when the surface in contact with the target area and the outrigger sensing structure 41 is a stepped surface, the step height can be measured by the corresponding monitoring mechanism of the unmanned barge operation device. This step height can be incorporated into the subsequent determination of relative pose change information to accurately obtain the relative pose change information of the gripping mechanism 3 and the material receiving mechanism 7 set on the stepped surface. This improves the applicability of the unmanned barge operation method.

[0115] While the present invention has been disclosed above, its scope of protection is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention, and all such changes and modifications will fall within the scope of protection of the present invention.

Claims

1. An unmanned refueling operation device, characterized in that, The system includes a lifting mechanism (1), a posture adjustment mechanism (2), a gripping mechanism (3), and a posture sensing mechanism (4). The lifting mechanism (1) is installed on a supply ship (5). The boom (11) of the lifting mechanism (1), the posture adjustment mechanism (2), and the gripping mechanism (3) 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 installed in at least one of the boom (11), the posture adjustment mechanism (2), and the gripping mechanism (3). The outrigger sensing structure (41) is disposed on the gripping mechanism (3) and is used to acquire image information about the relative pose of the material receiving mechanism (7) and the gripping mechanism (3) when in contact with the deck of the receiving ship (6); the outrigger sensing structure (41) is disposed on the gripping mechanism (3) and is used to acquire relative pose change information of the gripping mechanism (3) and the deck of the receiving ship (6) when in contact with the material receiving mechanism (7), or to acquire relative pose change information of the gripping mechanism (3) and the material receiving mechanism (7) when in contact with the material receiving mechanism (7); The gripping mechanism (3) includes an end platform (31) connected to the posture adjustment mechanism (2) and a clamping structure (32) disposed 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 disposed at the rotatable 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 disposed on the telescopic leg structure (413) and is used to monitor the length change information of the telescopic leg structure (413).

2. The unmanned barge operation device as described in claim 1, characterized in that, The telescopic outrigger structure (413) includes a rotary joint component (413a), a first telescopic rod (413b), a second telescopic rod (413c), and a connecting support structure (413d). The rotary joint component (413a) is rotatably connected to the end platform (31). One end of the first telescopic rod (413b) is rotatably connected to the rotary joint component (413a), and one end of the second telescopic rod (413c) is rotatably connected to the rotary joint component (413a). The other end of the first telescopic rod (413b) and the other end of the second telescopic rod (413c) are rotatably connected through the connecting support structure (413d). The rotation axis of the first telescopic rod (413b) and the rotary joint component (413a), the rotation axis of the second telescopic rod (413c) and the rotary joint component (413a), and the first telescopic rod (413b) are all connected through the connecting support structure (413d). The retractable rod (413b) is parallel to the rotation axis of the connecting support structure (413d) and is perpendicular to the rotation axis of the rotary joint component (413a) and the end platform (31); the second telescopic rod (413c) and the rotation axis of the connecting support structure (413d) coincide with the rotation axis of the first telescopic rod (413b) and the connecting support structure (413d); the angle monitoring structure (411) is located at the rotational connection between the rotary joint component (413a) and the end 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 located on the first telescopic rod (413b), and the second displacement monitoring structure (412) is located on the second telescopic rod (413c).

3. The unmanned barge operation device as described in claim 2, characterized in that, The telescopic outrigger structure (413) further includes an adsorption structure (413e), which is disposed on 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).

4. The unmanned barge operation device as described in claim 3, characterized in that, The telescopic outrigger structure (413) also includes a position sensing structure corresponding to the material receiving mechanism (7), the position sensing structure being disposed on at least one of the adsorption structure (413e) and the connecting support structure (413d).

5. The unmanned barge operation device as described in any one of claims 1-4, characterized in that, The pose sensing mechanism (4) includes at least three non-collinear leg sensing structures (41) on the gripping mechanism (3).

6. A supply ship, characterized in that, Includes the unmanned barge operation device as described in any one of claims 1-5.

7. A method for unmanned refueling operations, characterized in that, Based on the unmanned barge operation device as described in claim 3 or 4; The unmanned rebar operation method includes: The grabbing mechanism (3) grabs the supply materials (8) from the supply ship (5); The boom (11) of the driving lifting mechanism (1) moves to the position adjustment mechanism (2) and the gripping mechanism (3) above the material receiving mechanism (7); Drive the boom (11) and / or the posture adjustment mechanism (2) until the gripping mechanism (3) descends to the adsorption structure (413e) of the telescopic outrigger structure (413) of the outrigger sensing structure (41) and adsorbs onto the target area corresponding to the material receiving mechanism (7); wherein the target area is located on the material receiving mechanism (7) or on the deck of the receiving ship (6) where the material receiving mechanism (7) is located; The operating parameters of the telescopic outrigger structure (413) are acquired in real time, and the relative pose change information of the gripping mechanism (3) and the material receiving mechanism (7) is determined based on the operating parameters. Based on the relative pose change information, control at least one of the boom (11) and the pose adjustment mechanism (2) to perform follow-up compensation on the gripping mechanism (3), connect the gripping mechanism (3) with the material receiving mechanism (7), and transfer the supply material (8) to the material receiving mechanism (7).

8. The unmanned docking operation method as described in claim 7, characterized in that, The driving mechanism (2) to lower the boom (11) and / or the posture adjustment mechanism (2) to the attachment structure (413e) of the telescopic outrigger structure (413) of the outrigger sensing structure (411) and attach to the target area corresponding to the material receiving mechanism (7) includes: Based on the visual perception structure of the pose perception mechanism (4), image information about the relative pose of the grasping mechanism (3) and the target area is obtained; Based on the image information, drive the boom (11) and / or the pose adjustment mechanism (2) to make the gripping mechanism (3) descend toward the target area; When the gripping mechanism (3) descends to the target area where the adsorption structure (413e) falls, the adsorption structure (413e) is controlled to adsorb in the target area.

9. The unmanned docking operation method as described in claim 7, characterized in that, The operating parameters include the length change, length change speed, and length change acceleration of the telescopic outrigger structure (413), as well as the angle change, angle change speed, and angle change acceleration of the telescopic outrigger structure (413) relative to the gripping mechanism (3). The determination of the relative pose change information between the gripping mechanism (3) and the material receiving mechanism (7) based on the operating parameters includes: Based on the length change and the angle change, the first relative pose of the material receiving mechanism (7) relative to the grasping mechanism (3) is determined; Based on the first relative pose, and the length change rate, the length change acceleration, the angle change rate and the angle change acceleration, the second relative pose of the material receiving mechanism (7) relative to the grasping mechanism (3) is predicted; The step of controlling at least one of the boom (11) and the posture adjustment mechanism (2) to perform follow-up compensation on the gripping mechanism (3) based on the relative posture change information, connecting the gripping mechanism (3) with the material receiving mechanism (7), and transferring the supply material (8) to the material receiving mechanism (7) includes: Control at least one of the boom (11) and the pose adjustment mechanism (2) to perform follow-up compensation on the gripping mechanism (3) based on the second relative pose, connect the gripping mechanism (3) with the material receiving mechanism (7), and transfer the supply material (8) to the material receiving mechanism (7).

Images