Automatic docking and pier setting system and method for floating dock

Abstract

The invention relates to an automatic docking and pier-sitting system and method for a floating dock, and the system is characterized in that a distance measuring subsystem is installed on docking equipment, and is used for measuring the distance between a bow marking point of the docking equipment and a front dock wall, the distance between a port dock wall and a starboard dock wall of the floating dock, and the distance between a stern marking point of the docking equipment and the port dock wall and the starboard dock wall of the floating dock; the traction subsystem comprises five winches installed on the floating dock, the five winches are distributed corresponding to the bow portion, the front portion of a port, the front portion of a starboard, the rear portion of the port and the rear portion of the starboard of the docking equipment respectively, and the winches are provided with traction ropes tied to mooring bollards at bow portion marking points or stern portion marking points. And the control subsystem is connected with the distance measuring subsystem and the traction subsystem through the communication subsystem, generates a traction control instruction according to the received distance information and the traction information of the winch, and controls the winch to work according to the traction control instruction. The method can solve the problems that in the prior art, docking of an unmanned underwater vehicle or a water surface ship needs a large amount of manpower and material resources, and the operation efficiency is low.

Description

Technical Field

[0001] The present application relates to the technical field of floating docks, and in particular to a floating dock automatic docking system and method. Background Art

[0002] After being put into use, unmanned submersibles or surface ships need to be docked again for maintenance, repair or refitting. Especially for large unmanned submersibles, refitting is more frequent according to the needs of testing, which has high requirements for docking efficiency and usually does not have enough crew to cooperate.

[0003] However, the traditional docking method requires more manpower and has high requirements on personnel experience and quality, and cannot meet the high-frequency docking needs.

[0004] Therefore, designing an automatic docking and landing system that does not require a lot of manpower and material resources, has high operating efficiency and precision, and is compatible with the docking of various types of ships has become an urgent problem to be solved in this field. Summary of the invention

[0005] The embodiment of the present application provides a floating dock automatic docking system and method to solve the problem in the related art that docking of unmanned submersibles or surface ships requires a lot of manpower and material resources and has low operating efficiency.

[0006] In a first aspect, a floating dock automatic docking and pier system is provided, which comprises: A distance measuring subsystem is used to be installed on the docking equipment and measure the distance information of the docking equipment, wherein the distance information includes the distance between the bow mark point of the docking equipment and the front dock wall, the port dock wall and the starboard dock wall of the floating dock, and the distance between the stern mark point of the docking equipment and the port dock wall and the starboard dock wall of the floating dock; A traction subsystem, comprising five winches for installation on the floating dock, the five winches are respectively distributed corresponding to the bow, front of the port side, front of the starboard side, rear of the port side, and rear of the starboard side of the docking equipment, and the winches have a traction rope for tying to a mooring bollard at the bow mark point or the stern mark point; Communication subsystem; The control subsystem is connected to the distance measuring subsystem and the traction subsystem through the communication subsystem, and is used to generate a traction control instruction according to the received distance information and the traction information of the winch, and control the winch to work according to the traction control instruction.

[0007] In some embodiments, the range finding subsystem includes two mounting bases and a forward range finder, a bow range finder, and a stern range finder; The forward rangefinder is installed on one of the mounting bases and is used to measure the distance between the bow mark point of the docking equipment and the front dock wall of the floating dock; The bow rangefinder and the forward rangefinder are installed on the same installation base, and are used to measure the distance between the bow mark point of the docking equipment and the port side dock wall and the starboard side dock wall of the floating dock; The stern rangefinder is installed on another of the installation bases and is used to measure the distance between the stern mark point of the docking equipment and the port side dock wall and the starboard side dock wall of the floating dock.

[0008] In some embodiments, the ranging subsystem further includes two three-axis gimbal stabilizers; The forward rangefinder and the bow rangefinder are mounted on the mounting base via one of the three-axis gimbal stabilizers; The stern rangefinder is installed on the installation base through another three-axis gimbal stabilizer.

[0009] In some embodiments, among the five winches, the traction ropes of the three winches corresponding to the bow, the front of the port side, and the front of the starboard side of the docking equipment are tied to the mooring bollards at the bow marking point; The traction ropes of the two winches corresponding to the positions behind the port side and the starboard side of the docking equipment are tied to the mooring piles at the stern marking point.

[0010] In some embodiments, the communication subsystem includes: A first communication module, which is installed on the docking device, the first communication module is connected to the distance measuring subsystem and is used to send distance information measured by the distance measuring subsystem; a second communication module, which is disposed on the winch, the second communication module is connected to the winch and is used to send traction information of the winch; The third communication module is arranged in the control subsystem, and is connected to the control subsystem, the first communication module and the second communication module, and is used to receive the distance information measured by the distance measuring subsystem, the traction information of the winch, and send the traction control instruction of the winch.

[0011] In some embodiments, the first communication module is further used to receive parameter setting information of the ranging subsystem; The second communication module is also used to receive parameter setting information and traction control instructions of the winch; The third communication module is also used to send parameter setting information of the ranging subsystem and parameter setting information of the winch; The first communication module is connected to the ranging subsystem by wired communication; The second communication module is connected to the winch by wired communication; The third communication module is connected to the control subsystem and the second communication module by wired communication, and the third communication module is connected to the first communication module by wireless communication.

[0012] In some embodiments, the control subsystem is arranged in a floating dock control room, and the control subsystem includes a control console; The control console includes a control cabinet and an industrial computer, a display screen and a control panel arranged on the control cabinet; The industrial computer is used to generate a traction control instruction according to the received distance information and the traction information of the winch, and control the winch to work according to the traction control instruction; The display screen is connected to the industrial computer and is used to display a control interface; The control panel is connected to the industrial computer.

[0013] In some embodiments, the industrial computer is also used for: When the traction control instruction obtained according to the distance information is greater than the rated maximum traction of the winch, and the distance information remains unchanged or gradually decreases within a preset time, the winch is controlled to work according to the rated maximum traction; When the traction control command obtained according to the distance information is greater than the rated maximum traction of the winch, and the distance information gradually increases within a preset time, the winch traction control is stopped, and the winch is controlled to lock the traction rope; When there is a communication failure between the industrial computer and the winch, the winch is controlled to lock the traction rope; When there is a communication failure between the industrial computer and the distance measuring subsystem, all winch traction control is stopped, and all winches are controlled to lock the traction ropes; When the winch has a traction force output failure, the traction force control of all winches is stopped, and all winches are controlled to lock the traction ropes.

[0014] In some embodiments, the pier system also includes a docking device, which includes a steel base, steel side piers, a wooden middle pier and wooden side piers, the steel side piers are arranged on both sides of the steel base, the wooden side piers are arranged on the steel side piers, and the wooden middle pier is arranged in the middle of the steel base.

[0015] In a second aspect, a method for using the automatic docking and pier system of a floating dock as described above is provided, comprising: Installing the distance measurement subsystem on the docking device and measuring the distance information of the docking device; tying the towing ropes of the three winches corresponding to the bow, port front, and starboard front of the docking equipment to the mooring bollards at the bow marking point; tying the towing ropes of the two winches corresponding to the port rear and starboard rear positions of the docking equipment to the mooring piles at the stern marked points; A traction control instruction is generated according to the received distance information and the traction force information of the winch, and the winch is controlled to work according to the traction control instruction.

[0016] The beneficial effects of the technical solution provided by this application include: The present application improves the automation level of docking operation by measuring the distance during the docking process and automatically controlling the traction force, thereby saving manpower and material resources, shortening the docking time, and improving the docking efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0018] Figure 1 A schematic diagram of the automatic docking process of a floating dock provided in an embodiment of the present application; Figure 2 A schematic diagram of the communication subsystem arrangement provided in an embodiment of the present application; Figure 3 A schematic diagram of a docking device provided in an embodiment of the present application.

[0019] In the figure: 1. Docking equipment; 10. Bow marking point; 11. Stern marking point; 2. Floating dock; 3. Winch; 4. Dock pier device; 40. Steel base; 41. Steel side pier; 42. Wooden middle pier; 43. Wooden side pier; 5. Towing rope. DETAILED DESCRIPTION

[0020] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0021] See also Figure 1 and Figure 2As shown, the embodiment of the present application provides an automatic docking and pier system for a floating dock, including a distance measuring subsystem, a traction subsystem, a communication subsystem and a control subsystem. The distance measuring subsystem is used to be installed on a docking device 1 and measure the distance information of the docking device 1, the distance information includes the distance between the bow mark point 10 of the docking device 1 and the front dock wall, the port dock wall and the starboard dock wall of the floating dock 2, and the distance between the stern mark point 11 of the docking device 1 and the port dock wall and the starboard dock wall of the floating dock 2; the traction subsystem includes a communication subsystem and a control subsystem for installation. There are five winches 3 on the floating dock 2, and the five winches 3 are respectively distributed corresponding to the bow, front of the port side, front of the starboard side, rear of the port side, and rear of the starboard side of the docking equipment 1. The winches 3 have a traction rope 5 for tying to the mooring pile at the bow mark point 10 or the stern mark point 11; the control subsystem is connected with the ranging subsystem and the traction subsystem through the communication subsystem, and is used to generate a traction control instruction according to the received distance information and the traction information of the winch 3, and control the winch 3 to work according to the traction control instruction.

[0022] The present application improves the automation level of docking operation by measuring the distance during the docking process and automatically controlling the traction force, thereby saving manpower and material resources, shortening the docking time, and improving the docking efficiency.

[0023] It can be understood that the above-mentioned docking equipment 1 can be a machine that needs to be docked, such as an unmanned underwater vehicle or a surface ship.

[0024] It is understandable that the bow marking point 10 and the stern marking point 11 may be on the central axis of the docking device 1 and located at two positions, front and rear, of the docking device 1 , which are convenient for base installation and distance measurement.

[0025] As an optional embodiment, the ranging subsystem includes two mounting bases and a forward rangefinder, a bow rangefinder, and a stern rangefinder; the forward rangefinder is installed on one of the mounting bases and is used to measure the distance between the bow mark point 10 of the docking equipment 1 and the front dock wall of the floating dock 2; the bow rangefinder and the forward rangefinder are installed on the same mounting base and are used to measure the distance between the bow mark point 10 of the docking equipment 1 and the port side dock wall and the starboard side dock wall of the floating dock 2; the stern rangefinder is installed on another mounting base and is used to measure the distance between the stern mark point 11 of the docking equipment 1 and the port side dock wall and the starboard side dock wall of the floating dock 2.

[0026] In the present application, the forward rangefinder, the bow rangefinder and the stern rangefinder measure the distance between the docking equipment 1 and the dock wall of the floating dock, and send the distance information to the control subsystem through the communication subsystem in a timely manner.

[0027] As an optional implementation, the ranging subsystem further includes two three-axis gimbal stabilizers; the forward rangefinder and the bow rangefinder are mounted on the mounting base via one of the three-axis gimbal stabilizers; and the stern rangefinder is mounted on the mounting base via another three-axis gimbal stabilizer.

[0028] The two three-axis gimbal stabilizers are also equipped with batteries to power the forward rangefinder, bow rangefinder, and stern rangefinder.

[0029] It is understandable that the forward rangefinder, bow rangefinder, and stern rangefinder mentioned above may all use commonly used high-precision rangefinders such as laser rangefinders.

[0030] The three-axis gimbal stabilizer is used to maintain the stability of the rangefinder during the ranging process and reduce the impact of the swaying of the docking device 1 on the ranging accuracy.

[0031] It can be seen that the docking device 1 is equipped with a distance measurement subsystem, and the attitude of the distance meter is maintained by a three-axis gimbal stabilizer, which facilitates the effective and reliable measurement of the distance during the docking process, is conducive to the precise control of traction, and reduces the risk of collision of the docking device 1 during docking.

[0032] The mounting base is installed on the bow and stern marking points of the docking equipment 1 to provide a mounting platform for the three-axis gimbal stabilizer.

[0033] See also Figure 1 As shown, the traction subsystem is placed on the safety deck of the floating dock 2 to provide power for traction of the docking equipment 1 into the dock.

[0034] The winch 3 may be, for example, a constant tension winch.

[0035] When mooring, among the five winches 3, the traction ropes 5 of the three winches 3 corresponding to the bow, front of the port side and front of the starboard side of the docking device 1 are tied to the mooring piles at the bow marking point 10; the winch 3 corresponding to the bow of the docking device 1 provides forward traction for the docking of the docking device 1, and the two winches 3 corresponding to the front of the port side and front of the starboard side of the docking device 1 provide longitudinal traction and lateral traction for the docking of the docking device 1.

[0036] The traction ropes 5 of the two winches 3 corresponding to the port rear and starboard rear positions of the docking equipment 1 are tied to the mooring piles at the stern marking point 11 to provide longitudinal traction and lateral traction for the docking of the docking equipment 1.

[0037] The winch 3 receives the start / stop and traction force instructions from the control subsystem and then executes the cable releasing and collecting actions. The docking equipment 1 is smoothly docked under the traction of the five winches 3.

[0038] See also Figure 2As shown, the communication subsystem includes a first communication module, a second communication module and a third communication module distributed in the distance measurement subsystem, the traction subsystem and the control subsystem, and forms a local area network for information exchange between the subsystems.

[0039] The first communication module is installed on the docking device 1, which includes wired communication and wireless communication functions. A first communication module is respectively set at the bow mark point 10 and the stern mark point 11 of the docking device 1. The first communication module is connected to the ranging subsystem for wired communication. The first communication module receives the distance information measured by the ranging subsystem through the wired communication network, and then sends the distance information measured by the ranging subsystem to the control subsystem through the wireless communication network. The first communication module receives parameter setting information for controlling the ranging subsystem sent by the control subsystem through the wireless communication network, and sends it to the ranging subsystem, specifically the parameter setting information of each rangefinder. According to needs, the command information for controlling the three-axis gimbal stabilizer sent by the control subsystem can also be received to control the three-axis gimbal stabilizer.

[0040] The second communication module is arranged on the winch 3. Each winch 3 is provided with a second communication module, which includes a wired communication function. The second communication module is connected to the winch 3. The winch 3 sends the current traction information of the winch 3 to the control subsystem through the second communication module. The second communication module receives the parameter setting information and traction control instructions of the winch 3 sent by the control subsystem, and sends the parameter setting information and traction control instructions to the winch 3 for corresponding control.

[0041] The third communication module is arranged in the control subsystem, which includes wired communication and wireless communication functions. The third communication module is connected to the control subsystem, the first communication module and the second communication module. The third communication module receives the distance information measured by the ranging subsystem through the wireless communication network, receives the traction information of the winch 3 through the wired communication network, sends the traction control instruction of the winch 3 to the winch 3, and sends the parameter setting information of the ranging subsystem to the ranging subsystem.

[0042] See also Figure 3 As shown, the pier system also includes a docking pier device 4. A plurality of docking pier devices 4 can be provided and are spaced apart along the central axis direction of the docking device 1 to provide support for the docking device 1 after docking. The docking pier device 4 includes a steel base 40, a steel side pier 41, a wooden middle pier 42 and a wooden side pier 43. The steel side piers 41 are provided on both sides of the steel base 40, the wooden side piers 43 are provided on the steel side piers 41, and the wooden middle pier 42 is provided in the middle of the steel base 40.

[0043] The steel base 40 is a plate grid structure, and the height of the base is set according to the abdominal equipment installation and maintenance space requirements of the docking equipment 1.

[0044] The shapes of the wooden middle pier 42 and the wooden side pier 43 are in close contact with the shape of the docking equipment 1 , and wooden piers with different fitting surfaces are provided according to different shapes of the docking equipment 1 .

[0045] The wooden middle pier 42, the steel side pier 41 and the steel base 40 are connected by screw connection, and the wooden side pier 43 and the steel side pier 41 are also connected by screw connection. In order to match the appearance of the docking equipment 1 to be docked, the steel side pier 41 can be removed when necessary.

[0046] The control subsystem is arranged in the control room of the floating dock, and the control subsystem includes a control console; the control console includes a control cabinet and an industrial computer, a display screen and a control panel arranged on the control cabinet; the industrial computer runs the control software to generate a traction control instruction according to the received distance information and the traction information of the winch 3, and controls the winch 3 to work according to the traction control instruction; the display screen is connected to the industrial computer and is used to display the control interface of the control software, including the status information of each subsystem, instruction options, etc.; the control panel is connected to the industrial computer, and the control panel includes a control mode selection knob, a winch operating lever, a fault alarm light, etc.

[0047] The control subsystem includes two modes: automatic control and manual control, which are switched by the control mode selection knob. In the automatic control mode, based on the distance information and traction information, the traction control command of the winch is calculated by the automatic control algorithm contained in the control software and sent to the winch; in the manual control mode, the operator manually controls the start and stop of each winch and the traction control command based on the feedback distance information and traction information.

[0048] When the industrial computer runs the control software, it can perform data processing, automatic control algorithm calculation, and emergency strategy processing.

[0049] When processing data, it mainly includes distance information filtering, eliminating data that does not meet the requirements, and smoothing the distance information. Forward distance data with a distance change of more than X meters (for example, 1m) within a cycle will not be adopted, and lateral distance data with a distance change of more than Y meters (for example, 0.5m) within a cycle will not be adopted.

[0050] When performing automatic control algorithm calculations, the PD control algorithm is used to solve the traction control command based on the distance information and traction information that have been acquired and processed. If the solved traction control command exceeds the rated maximum traction of the winch, the rated maximum traction command is executed.

[0051] When implementing emergency strategies: 1) When the traction control command obtained according to the distance information is greater than the rated maximum traction of the winch 3, and the distance information gradually increases and exceeds the set distance threshold within a preset time, the traction control of the winch 3 is stopped, and the winch 3 is controlled to lock the traction rope 5 until the traction force is less than the set traction force threshold, then the traction rope 5 is released and the traction control is restored.

[0052] 2) During the automatic docking process, when there is a communication failure between the industrial computer and the winch 3, the winch 3 is controlled to lock the traction rope 5. The communication failure refers to the failure to receive the traction control command of the control subsystem for N communication cycles.

[0053] 3) During the automatic docking process, when there is a communication failure between the industrial computer and the distance measuring subsystem, such as a certain distance meter, the traction control of all winches 3 is stopped, and all winches 3 are controlled to lock the traction rope 5, and the automatic docking process is suspended. The communication failure refers to the continuous failure to receive the distance information of the distance meter within N communication cycles.

[0054] 4) During the automatic docking process, when the winch 3 has a traction output failure and cannot output traction, the traction control of all winches 3 is stopped, and all winches 3 are controlled to lock the traction rope 5, and the automatic docking process is suspended.

[0055] In the present application, during the process of the docking equipment 1 slowly docking along the left and right sides of the center line of the floating dock 2, the traction control command of the winch 3 is calculated using the following formula:

[0056]

[0057]

[0058]

[0059]

[0060] In the formula, , , , , The output traction of the winches arranged at the bow, port front, starboard front, port rear and starboard rear of the floating dock in sequence; , , , , The initial tension for straightening the traction ropes of the winches arranged at the bow, port front, starboard front, port rear and starboard rear of the floating dock respectively; is the width of the floating dock; It is the included angle between the traction rope of the winch on the port side and the starboard side of the floating dock and the transverse direction of the floating dock. According to actual needs, the deviation of the included angle between the traction rope of the winch on the port side and the starboard side of the floating dock and the transverse direction of the floating dock caused by the transverse deviation of the docking equipment can be ignored; It is the included angle between the traction rope of the winch on the port side and the starboard side of the floating dock and the transverse direction of the floating dock. According to actual needs, the deviation of the included angle between the traction rope of the winch on the port side and the starboard side of the floating dock and the transverse direction of the floating dock caused by the transverse deviation of the docking equipment can be ignored; The distance between the bow mark point on the docking equipment and the front dock wall of the floating dock; The target distance between the bow mark point on the docking equipment and the front dock wall of the floating dock; It is the distance between the bow mark point and the stern mark point on the docking equipment; They are the distances from the bow mark point on the docking equipment to the port wall and the starboard wall of the floating dock respectively; The distances from the stern mark point on the docking equipment to the port wall and the starboard wall of the floating dock respectively; The distance between the port front winch and the starboard front winch of the floating dock and the front dock wall of the floating dock; The distance between the port side rear winch and the starboard side rear winch of the floating dock and the front dock wall of the floating dock; is the control function of the winch traction force arranged in front of the port side, front of the starboard side, aft of the port side, and aft of the starboard side of the floating dock with respect to the distance x, is the control function of the floating dock bow winch traction force with respect to the distance x, are the control parameters of each winch, where =1,2,3,4,5.

[0061] is the lateral position deviation change rate, To control the cycle Inner lateral position deviation.

[0062] is the longitudinal position deviation change rate, To control the cycle Internal longitudinal position deviation.

[0063] When the docking equipment is pulled into place, , the control subsystem sends a request to start drainage and floating to the floating dock control system. After receiving the feedback from the floating dock control system that drainage and floating are in progress, the calculation of the winch traction control command is simplified to the following formula:

[0064] Until the traction output of each winch is stable ( =1,2,3,4,5), indicating that after the docking equipment has landed successfully, the traction control commands of each winch are reset to zero, completing the automatic docking.

[0065] It is understandable that the above It is a sign that the docking equipment has been towed into place. In fact, when docking, the horizontal distance between the docking equipment and the port and starboard dock walls should also be considered to avoid the docking equipment being too far to the left or right. During the process, the traction of the towing ropes of the winches on the port front, starboard front, port rear and starboard rear is constantly adjusted to prevent the docking equipment from being too far to the left or right. At this time, the lateral distance between the docking equipment and the port side dock wall and the starboard side dock wall actually meets their respective corresponding target distances.

[0066] The present application also provides a method for using the automatic docking and pier system of a floating dock, which comprises the following steps: 101: Installing a distance measurement subsystem on the docking device 1, and measuring distance information of the docking device 1; 102: tying the traction ropes 5 of the three winches 3 corresponding to the bow, the front of the port side, and the front of the starboard side of the docking equipment 1 to the mooring piles at the bow marking point 10; 103: tying the traction ropes 5 of the two winches 3 corresponding to the port rear and starboard rear positions of the docking equipment 1 to the mooring piles at the stern marking point 11; 104: Generate a traction force control instruction according to the received distance information and the traction force information of the winch 3, and control the winch 3 to work according to the traction force control instruction until the docking of the docking device 1 is completed.

[0067] In the description of the present application, it should be noted that the terms "upper", "lower", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. Unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be a connection between the two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to the specific circumstances.

[0068] It should be noted that, in this application, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0069] The above description is only a specific implementation of the present application, so that those skilled in the art can understand or implement the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest range consistent with the principles and novel features applied for herein.

Claims

1. A floating dock automatic docking system, characterized in that: It includes: A distance measuring subsystem, which is used to be installed on the docking equipment (1) and measure the distance information of the docking equipment (1), the distance information including the distance between the bow mark point (10) of the docking equipment (1) and the front dock wall, the port dock wall and the starboard dock wall of the floating dock (2), and the distance between the stern mark point (11) of the docking equipment (1) and the port dock wall and the starboard dock wall of the floating dock (2); A traction subsystem, comprising five winches (3) for installation on the floating dock (2), the five winches (3) being respectively distributed corresponding to the bow, front of the port side, front of the starboard side, rear of the port side, and rear of the starboard side of the docking equipment (1), the winches (3) having a traction rope (5) for tying to a mooring bollard at the bow marking point (10) or the stern marking point (11); Communication subsystem; A control subsystem is connected to the distance measuring subsystem and the traction subsystem via the communication subsystem, and is used to generate a traction control instruction based on the received distance information and the traction information of the winch (3), and to control the winch (3) to operate according to the traction control instruction.

2. The floating dock automatic docking and pier system according to claim 1, characterized in that: The range-finding subsystem includes two mounting bases and a forward rangefinder, a bow rangefinder, and a stern rangefinder; The forward rangefinder is mounted on one of the mounting bases and is used to measure the distance between the bow mark point (10) of the docking equipment (1) and the front dock wall of the floating dock (2); The bow rangefinder and the forward rangefinder are mounted on the same mounting base and are used to measure the distance between the bow mark point (10) of the docking equipment (1) and the port side dock wall and the starboard side dock wall of the floating dock (2); The stern rangefinder is installed on another of the mounting bases and is used to measure the distance between the stern marking point (11) of the docking equipment (1) and the port side dock wall and the starboard side dock wall of the floating dock (2).

3. The floating dock automatic docking and pier system according to claim 2, characterized in that: The distance measurement subsystem also includes two three-axis gimbal stabilizers; The forward rangefinder and the bow rangefinder are mounted on the mounting base via one of the three-axis gimbal stabilizers; The stern rangefinder is installed on the installation base through another three-axis gimbal stabilizer.

4. The floating dock automatic docking and pier system according to claim 1, characterized in that: Among the five winches (3), the traction ropes (5) of the three winches (3) corresponding to the bow, port front, and starboard front of the docking equipment (1) are tied to the mooring piles at the bow marking point (10); The traction ropes (5) of the two winches (3) corresponding to the positions behind the port side and the starboard side of the docking equipment (1) are tied to the mooring piles at the stern marking point (11).

5. The floating dock automatic docking and pier system according to claim 1, characterized in that: The communication subsystem comprises: A first communication module, which is installed on the docking device (1), the first communication module being connected to the distance measuring subsystem and used to send distance information measured by the distance measuring subsystem; a second communication module, which is arranged on the winch (3), the second communication module being connected to the winch (3) and used for sending traction force information of the winch (3); A third communication module is arranged in the control subsystem, the third communication module is connected to the control subsystem, the first communication module and the second communication module, and is used to receive distance information measured by the distance measurement subsystem, traction force information of the winch (3), and send traction force control instructions of the winch (3).

6. The floating dock automatic docking and pier system according to claim 5, characterized in that: The first communication module is also used to receive parameter setting information of the ranging subsystem; The second communication module is also used to receive parameter setting information and traction control instructions of the winch (3); The third communication module is also used to send parameter setting information of the distance measurement subsystem and parameter setting information of the winch (3); The first communication module is connected to the ranging subsystem by wired communication; The second communication module is connected to the winch (3) by wired communication; The third communication module is connected to the control subsystem and the second communication module by wired communication, and the third communication module is connected to the first communication module by wireless communication.

7. The floating dock automatic docking and pier system according to claim 1, characterized in that: The control subsystem is arranged in the floating dock control room, and the control subsystem includes a control console; The control console includes a control cabinet and an industrial computer, a display screen and a control panel arranged on the control cabinet; The industrial computer is used to generate a traction control instruction according to the received distance information and the traction information of the winch (3), and control the winch (3) to work according to the traction control instruction; The display screen is connected to the industrial computer and is used to display a control interface; The control panel is connected to the industrial computer.

8. The floating dock automatic docking and pier system according to claim 7, characterized in that: The industrial computer is also used for: When the traction control instruction obtained according to the distance information is greater than the rated maximum traction of the winch (3), and the distance information remains unchanged or gradually decreases within a preset time, the winch (3) is controlled to operate according to the rated maximum traction; When the traction control command obtained according to the distance information is greater than the rated maximum traction of the winch (3), and the distance information gradually increases within a preset time, the traction control of the winch (3) is stopped, and the winch (3) is controlled to lock the traction rope (5); When there is a communication failure between the industrial computer and the winch (3), the winch (3) is controlled to lock the traction rope (5); When there is a communication failure between the industrial computer and the distance measurement subsystem, the traction control of all winches (3) is stopped, and all winches (3) are controlled to lock the traction rope (5); When a traction force output failure occurs on the winch (3), the traction force control of all winches (3) is stopped, and all winches (3) are controlled to lock the traction rope (5).

9. The floating dock automatic docking and pier system according to claim 1, characterized in that: The pier system further comprises a docking pier device (4), the docking pier device (4) comprising a steel base (40), a steel side pier (41), a wooden middle pier (42) and a wooden side pier (43), the steel side piers (41) being arranged on both sides of the steel base (40), the wooden side piers (43) being arranged on the steel side piers (41), and the wooden middle pier (42) being arranged in the middle of the steel base (40).

10. A method for using the floating dock automatic docking and pier system according to any one of claims 1 to 9, characterized in that: It includes: Installing a distance measurement subsystem on the docking device (1) and measuring distance information of the docking device (1); tying the traction ropes (5) of the three winches (3) corresponding to the bow, port front, and starboard front of the docking equipment (1) to the mooring piles at the bow marking point (10); tying the towing ropes (5) of the two winches (3) corresponding to the port rear and starboard rear positions of the docking equipment (1) to the mooring piles at the stern marking point (11); A traction control instruction is generated based on the received distance information and the traction force information of the winch (3), and the winch (3) is controlled to operate according to the traction control instruction.

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