An automatic docking and seating system and method for a floating dock

Abstract

The present application relates to a floating dock automatic docking and sitting-on-block system and method. The ranging subsystem is installed on the docking equipment to measure the distances between the bow marking point of the docking equipment and the front dock wall, the left dock wall, and the right dock wall of the floating dock, and the distances between the stern marking point of the docking equipment and the left dock wall and the right dock wall of the floating dock. The traction subsystem includes five winches installed on the floating dock, and the five winches are respectively distributed corresponding to the bow, front left, front right, rear left, and rear right of the docking equipment. Each winch has a traction rope tied to a bollard at the bow marking point or the stern marking point. The control subsystem is connected to the ranging subsystem and the traction subsystem through the communication subsystem, and generates a traction force control instruction according to the received distance information and the traction force information of the winches, and controls the winches to work according to the traction force control instruction. The present application can solve the problems in the related art that a large amount of manpower and material resources are required for the docking of unmanned underwater vehicles or surface ships, and the operation efficiency is low.

Description

Technical Field

[0001] This application relates to the technical field of floating docks, and particularly to an automatic docking and seating system and method for a floating dock. Background Art

[0002] After an unmanned underwater vehicle or a surface ship is put into use, it needs to enter the dock for construction again according to the requirements of maintenance, repair, or refitting. Especially for large unmanned underwater vehicles, refitting is relatively frequent according to the test requirements, and there are high requirements for docking efficiency. Usually, there are not enough crew members to cooperate.

[0003] However, the traditional docking method requires a lot of manpower to cooperate, and has high requirements for the experience and quality of personnel, and cannot meet the high-frequency docking requirements.

[0004] Therefore, designing an automatic docking and landing system that does not require a large amount of manpower and material resources, has high operation efficiency and accuracy, and can be compatible with various types of ships entering the dock has become an urgent problem to be solved in this field. Summary of the Invention

[0005] The embodiments of this application provide an automatic docking and seating system and method for a floating dock to solve the problems in the related art that a large amount of manpower and material resources are required for an unmanned underwater vehicle or a surface ship to enter the dock, and the operation efficiency is low.

[0006] In a first aspect, an automatic docking and seating system for a floating dock is provided, which includes:

[0007] A ranging subsystem, which is used to be installed on the docking equipment and measure the distance information of the docking equipment. The distance information includes the distance between the bow marking point of the docking equipment and the front dock wall of the floating dock, the left dock wall distance, and the right dock wall distance, and the distance between the stern marking point of the docking equipment and the left dock wall distance and the right dock wall distance of the floating dock;

[0008] A traction subsystem, which includes five winches used to be installed on the floating dock. The five winches are respectively distributed corresponding to the bow, front left, front right, rear left, and rear right positions of the docking equipment. The winch has a towing rope for tying to the bollard at the bow marking point or the stern marking point;

[0009] A communication subsystem;

[0010] A control subsystem, which is connected to the ranging subsystem and the traction subsystem through the communication subsystem, and is used to generate a traction control command according to the received distance information and the traction force information of the winch, and control the winch to work according to the traction control command.

[0011] In some embodiments, the ranging subsystem includes two mounting bases, a forward ranging instrument, a bow ranging instrument, and a stern ranging instrument;

[0012] The forward rangefinder is installed on one of the mounting bases and is used to measure the distance between the bow marking point of the docking device and the front dock wall of the floating dock.

[0013] The bow rangefinder and the forward rangefinder are installed on the same mounting base and are used to measure the distances between the bow marking point of the docking device and the left dock wall and the right dock wall of the floating dock respectively.

[0014] The stern rangefinder is installed on the other mounting base and is used to measure the distances between the stern marking point of the docking device and the left dock wall and the right dock wall of the floating dock respectively.

[0015] In some embodiments, the ranging subsystem further includes two three-axis pan-tilt stabilizers.

[0016] The forward rangefinder and the bow rangefinder are installed on the mounting base through one of the three-axis pan-tilt stabilizers.

[0017] The stern rangefinder is installed on the mounting base through the other three-axis pan-tilt stabilizer.

[0018] In some embodiments, among the five winches, the towing ropes of the three winches corresponding to the bow, the front left side, and the front right side of the docking device are tied to the bollards at the bow marking point.

[0019] The towing ropes of the two winches corresponding to the rear left side and the rear right side positions of the docking device are tied to the bollards at the stern marking point.

[0020] In some embodiments, the communication subsystem includes:

[0021] A first communication module, which is installed on the docking device. The first communication module is connected to the ranging subsystem and is used to send the distance information measured by the ranging subsystem.

[0022] A second communication module, which is arranged on the winch. The second communication module is connected to the winch and is used to send the traction force information of the winch.

[0023] A third communication module, which 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 the distance information measured by the ranging subsystem, the traction force information of the winch, and send the traction force control instruction of the winch.

[0024] In some embodiments, the first communication module is further used to receive the parameter setting information of the ranging subsystem.

[0025] The second communication module is further configured to receive the parameter setting information and the traction control instruction of the winch;

[0026] The third communication module is further configured to send the parameter setting information of the ranging subsystem and the parameter setting information of the winch;

[0027] The first communication module is in a wired communication connection with the ranging subsystem;

[0028] The second communication module is in a wired communication connection with the winch;

[0029] The third communication module is in a wired communication connection with the control subsystem and the second communication module, and the third communication module is in a wireless communication connection with the first communication module.

[0030] In some embodiments, the control subsystem is arranged in the floating dock control room, and the control subsystem includes a console;

[0031] The console includes a control cabinet and an industrial computer, a display screen and a control panel arranged on the control cabinet;

[0032] The industrial computer is configured to generate a traction control instruction according to the received distance information and the traction force information of the winch, and control the winch to work according to the traction control instruction;

[0033] The display screen is connected to the industrial computer and is configured to display a control interface;

[0034] The control panel is connected to the industrial computer.

[0035] In some embodiments, the industrial computer is further configured to:

[0036] When the traction control instruction obtained according to the distance information is greater than the rated maximum traction force of the winch, and the distance information remains unchanged or gradually decreases within a preset time, control the winch to work according to the rated maximum traction force;

[0037] When the traction control instruction obtained according to the distance information is greater than the rated maximum traction force of the winch, and the distance information gradually increases within a preset time, stop the traction control of the winch and control the winch to lock the traction rope;

[0038] When there is a communication fault between the industrial computer and the winch, control the winch to lock the traction rope;

[0039] When there is a communication fault between the industrial computer and the ranging subsystem, stop the traction control of all winches and control all winches to lock the traction ropes;

[0040] When there is a traction output failure in the winch, all winch traction controls are stopped, and all winches are controlled to lock the towing ropes.

[0041] In some embodiments, the docking pier system further includes a dock pier device, and the dock pier device 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.

[0042] Second, a method for using the floating dock automatic docking and sitting-on-pier system as described in any one of the above is provided, which includes:

[0043] Install the ranging subsystem on the docking equipment and measure the distance information of the docking equipment;

[0044] Tie the towing ropes of the three winches corresponding to the bow, the front left side, and the front right side of the docking equipment to the bollards at the bow marking points;

[0045] Tie the towing ropes of the two winches corresponding to the rear left side and the rear right side positions of the docking equipment to the bollards at the stern marking points;

[0046] Generate a traction control command according to the received distance information and the traction force information of the winch, and control the winch to work according to the traction control command.

[0047] The beneficial effects brought by the technical solutions provided in this application include:

[0048] By measuring the distance during the docking process and automatically controlling the traction force in this application, the degree of automation of the docking operation is improved, manpower and material resources are saved, the docking time is shortened, and the docking efficiency is increased. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] In order to more clearly illustrate the technical solutions in the embodiments of this application, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of this application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained according to these drawings.

[0050] Figure 1 It is a schematic diagram of the floating dock automatic docking process provided by the embodiment of this application;

[0051] Figure 2 It is a schematic diagram of the communication subsystem layout provided by the embodiment of this application;

[0052] Figure 3 It is a schematic diagram of the dock pier device provided by the embodiment of this application.

[0053] 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. Specific implementation mode

[0054] To make the objectives, technical solutions, and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Apparently, the described embodiments are some, but not all, of the embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present application without creative efforts shall fall within the scope of protection of the present application.

[0055] Refer to Figure 1 and Figure 2 As shown, the embodiments of the present application provide an automatic docking and seating system for a floating dock, including a ranging subsystem, a traction subsystem, a communication subsystem, and a control subsystem. The ranging subsystem is used to be installed on the docking equipment 1 and measure the distance information of the docking equipment 1. The distance information includes the distances from the bow marking point 10 of the docking equipment 1 to the front dock wall, the left dock wall, and the right dock wall of the floating dock 2, and the distances from the stern marking point 11 of the docking equipment 1 to the left dock wall and the right dock wall of the floating dock 2. The traction subsystem includes five winches 3 installed on the floating dock 2, and the five winches 3 are respectively distributed corresponding to the bow, front left, front right, rear left, and rear right positions of the docking equipment 1. The winch 3 has a towing rope 5 for tying to the bollard at the bow marking point 10 or the stern marking point 11. The control subsystem is connected to 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 force information of the winch 3, and control the winch 3 to work according to the traction control instruction.

[0056] The present application measures the distance during the docking process and automatically controls the traction force, improves the automation degree of the docking operation, saves manpower and material resources, shortens the docking time, and improves the docking efficiency.

[0057] It can be understood that the above docking equipment 1 can be an unmanned submersible or a surface ship and other machines that need to dock.

[0058] It can be understood that the bow marking point 10 and the stern marking point 11 can be on the central axis of the docking equipment 1 and are located at two positions in the front and rear of the docking equipment 1. These two points are convenient for base installation and distance measurement.

[0059] As an optional implementation manner, the ranging subsystem includes two mounting bases, 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 marking point 10 of the docking device 1 and the front dock wall of the floating dock 2; the bow rangefinder is mounted on the same mounting base as the forward rangefinder and is used to measure the distances between the bow marking point 10 of the docking device 1 and the left dock wall and the right dock wall of the floating dock 2; the stern rangefinder is mounted on the other mounting base and is used to measure the distances between the stern marking point 11 of the docking device 1 and the left dock wall and the right dock wall of the floating dock 2.

[0060] In this application, the forward rangefinder, the bow rangefinder, and the stern rangefinder measure the distances between the docking device 1 and the dock walls of the floating dock, and timely send the distance information to the control subsystem through the communication subsystem.

[0061] As an optional implementation manner, the ranging subsystem further includes two three-axis pan-tilt stabilizers; the forward rangefinder and the bow rangefinder are mounted on the mounting base through one of the three-axis pan-tilt stabilizers; the stern rangefinder is mounted on the mounting base through the other three-axis pan-tilt stabilizer.

[0062] The two three-axis pan-tilt stabilizers are also provided with batteries to supply power to the forward rangefinder, the bow rangefinder, and the stern rangefinder.

[0063] It can be understood that the above-mentioned forward rangefinder, bow rangefinder, and stern rangefinder can all use common high-precision rangefinders such as laser rangefinders.

[0064] The three-axis pan-tilt stabilizer is used to keep the rangefinder stable during the ranging process and reduce the influence of the sway of the docking device 1 on the ranging accuracy.

[0065] It can be seen that by mounting the ranging subsystem on the docking device 1 and maintaining the attitude of the rangefinder through the three-axis pan-tilt stabilizer, it is convenient to effectively and reliably measure the distance during the docking process, which is beneficial to the precise control of the traction force and reduces the risk of collision of the docking device 1 during docking.

[0066] The mounting bases are mounted on the bow and stern marking points of the docking device 1 to provide a mounting platform for the three-axis pan-tilt stabilizers.

[0067] See Figure 1 As shown, the traction subsystem is placed on the safety deck of the floating dock 2 to provide power for pulling the docking device 1 into the dock.

[0068] The winch 3 can use, for example, a constant tension winch, etc.

[0069] When mooring, among the five winches 3, the towing ropes 5 of the three winches 3 corresponding to the bow, the front left side, and the front right side of the docking equipment 1 are tied to the bollards at the bow marking points 10; the winch 3 corresponding to the bow of the docking equipment 1 provides the forward traction force for the docking of the docking equipment 1, and the two winches 3 corresponding to the front left side and the front right side of the docking equipment 1 provide the longitudinal traction force and the lateral traction force for the docking of the docking equipment 1.

[0070] The towing ropes 5 of the two winches 3 corresponding to the rear left side and the rear right side positions of the docking equipment 1 are tied to the bollards at the stern marking points 11, providing the longitudinal traction force and the lateral traction force for the docking of the docking equipment 1.

[0071] The winch 3 receives the start / stop and traction force commands from the control subsystem and then executes the cable releasing and cable retrieving actions, and the docking equipment 1 realizes smooth docking under the traction of the five winches 3.

[0072] See Figure 2 As shown, the communication subsystem includes the first communication module, the second communication module, and the third communication module distributed in the ranging subsystem, the traction subsystem, and the control subsystem, and forms a local area network for information interaction between subsystems.

[0073] The first communication module is installed on the docking equipment 1, which includes wired communication and wireless communication functions. One first communication module is set at each of the bow marking point 10 and the stern marking point 11 of the docking equipment 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. It receives the 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 for each rangefinder. According to needs, it can also receive the command information for controlling the three-axis gimbal stabilizer sent by the control subsystem to control the three-axis gimbal stabilizer.

[0074] The second communication module is set on the winch 3, and one second communication module is set on each winch 3, which includes wired communication function. The second communication module is connected to the winch 3. The winch 3 sends the current traction force information of the winch 3 to the control subsystem through the second communication module. The second communication module receives the parameter setting information and the traction force control command of the winch 3 sent by the control subsystem, and sends the parameter setting information and the traction force control command to the winch 3 for corresponding control.

[0075] The third communication module is disposed 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 a wireless communication network, receives the traction force information of the winch 3 through a wired communication network, and sends the traction force control instruction of the winch 3 to the winch 3 and sends the parameter setting information of the ranging subsystem to the ranging subsystem.

[0076] See Figure 3 As shown, the docking pier system further includes a dock pier device 4. A plurality of dock pier devices 4 can be provided and are spaced along the central axis direction of the docking equipment 1 to provide support for the docking equipment 1 after docking. The dock pier device 4 includes a steel base 40, steel side piers 41, a wooden middle pier 42, and wooden side piers 43. The steel side piers 41 are arranged on both sides of the steel base 40. The wooden side piers 43 are arranged on the steel side piers 41. The wooden middle pier 42 is arranged in the middle of the steel base 40.

[0077] The steel base 40 is a grid structure, and the height of the base is set according to the installation and maintenance space requirements of the abdominal equipment of the docking equipment 1.

[0078] The outer shapes of the wooden middle pier 42 and the wooden side piers 43 are fitted to the outer shape of the docking equipment 1, and wooden piers with different fitting surfaces are equipped according to the outer shapes of different docking equipment 1.

[0079] The wooden middle pier 42, the steel side pier 41 and the steel base 40 are connected by a screwing method, and the wooden side pier 43 and the steel side pier 41 are also connected by a screwing method. To match the outer shape of the docking equipment 1 to be docked, the steel side pier 41 can be removed if necessary.

[0080] The control subsystem is arranged in the floating dock control room. The control subsystem includes a console. The 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 control software to generate a traction force control instruction according to the received distance information and the traction force information of the winch 3, and controls the winch 3 to work according to the traction force 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. The control panel includes a control mode selection knob, a winch operating lever, a fault alarm lamp, etc.

[0081] The control subsystem includes two modes: automatic control and manual control, which are switched by a control mode selection knob. For the automatic control mode, based on the distance information and traction force information, the traction force control command of the winch is calculated through the automatic control algorithm included in the control software and sent to the winch. For the manual control mode, the operator manually controls the start / stop and traction force control command of each winch based on the feedback distance information and traction force information.

[0082] When the industrial control computer runs the control software, it can perform data processing, automatic control algorithm calculation, and emergency strategy processing.

[0083] When performing data processing, it mainly includes distance information filtering, removing data that does not meet the requirements, and smoothing the distance information. Forward distance data with a distance change exceeding X meters (such as 1m) within one cycle is not adopted, and lateral distance data with a distance change exceeding Y meters (such as 0.5m) within one cycle is not adopted.

[0084] When performing automatic control algorithm calculation, according to the acquired and processed distance information and traction force information, the PD control algorithm is used to solve the traction force control command. If the calculated traction force control command exceeds the rated maximum traction force of the winch, the rated maximum traction force command is executed.

[0085] When performing emergency strategy processing:

[0086] 1) When the traction force control command obtained according to the distance information is greater than the rated maximum traction force of the winch 3, and the distance information gradually increases and exceeds the set distance threshold within the preset time, the traction force control of the winch 3 is stopped, and the winch 3 is controlled to lock the towing rope 5 until the traction force is less than the set traction force threshold, then the towing rope 5 is released and the traction force control is restored.

[0087] 2) During the automatic docking process, when there is a communication failure between the industrial control computer and the winch 3, the winch 3 is controlled to lock the towing rope 5. The communication failure means that no traction force control command of the control subsystem is received continuously within N communication cycles.

[0088] 3) During the automatic docking process, when there is a communication failure between the industrial control computer and a ranging subsystem such as a certain rangefinder, the traction force control of all winches 3 is stopped, and all winches 3 are controlled to lock the towing rope 5, and the automatic docking process is paused. The communication failure means that no distance information of the rangefinder is received continuously within N communication cycles.

[0089] 4) During the automatic docking process, when the winch 3 has a traction force output failure and cannot output traction force, the traction force control of all winches 3 is stopped, and all winches 3 are controlled to lock the towing rope 5, and the automatic docking process is paused.

[0090] In this application, during the slow docking process of the docking device 1 near the left and right sides along the center line of the floating dock 2, the traction control instruction of the winch 3 is calculated by the following formula:

[0091]

[0092]

[0093]

[0094]

[0095]

[0096] In the formula, , , , , are the output traction forces of the winches arranged at the bow, front left side, front right side, rear left side, and rear right side of the floating dock in sequence;

[0097] , , , , are the initial tensile forces for straightening the towing ropes of the winches arranged at the bow, front left side, front right side, rear left side, and rear right side of the floating dock in sequence;

[0098] is the width of the floating dock;

[0099] are the angles between the towing ropes of the winches at the front left side and front right side of the floating dock and the transverse direction of the floating dock. According to actual needs, the deviation of the angles between the towing ropes of the winches at the front left side and front right side of the floating dock caused by the lateral offset of the docking device can be ignored;

[0100] are the angles between the towing ropes of the winches at the rear left side and rear right side of the floating dock and the transverse direction of the floating dock. According to actual needs, the deviation of the angles between the towing ropes of the winches at the rear left side and rear right side of the floating dock caused by the lateral offset of the docking device can be ignored;

[0101] is the distance between the bow marking point on the docking device and the front dock wall of the floating dock;

[0102] is the target distance between the bow marking point on the docking device and the front dock wall of the floating dock;

[0103] is the distance between the bow marking point and the stern marking point on the docking device;

[0104] They are, in sequence, the distances from the forward marking points on the docking equipment to the left dock wall and the right dock wall of the floating dock;

[0105] They are, in sequence, the distances from the aft marking points on the docking equipment to the left dock wall and the right dock wall of the floating dock;

[0106] They are the distances from the forward winches on the left side and the forward winches on the right side of the floating dock to the forward dock wall of the floating dock;

[0107] They are the distances from the aft winches on the left side and the aft winches on the right side of the floating dock to the forward dock wall of the floating dock;

[0108] They are the control functions of the traction forces of the winches arranged on the forward left side, forward right side, aft left side, and aft right side of the floating dock with respect to the distance x, It is the control function of the traction force of the forward winches on the floating dock with respect to the distance x, They are the control parameters of each winch, where = 1, 2, 3, 4, 5.

[0109] It is the change rate of the lateral position deviation, It is the control period The lateral position deviation within it.

[0110] It is the change rate of the longitudinal position deviation, It is the control period The longitudinal position deviation within it.

[0111] When the docking equipment is towed into place, that is, , the control subsystem sends a request to start draining water and floating up to the floating dock control system. After receiving the feedback of draining water and floating up from the floating dock control system, the calculation of the traction force control instruction of the winch is simplified to the following formula,

[0112]

[0113] Until the traction force output of each winch stabilizes to ( = 1, 2, 3, 4, 5), which means that after the docking equipment successfully lands and sits on the pier, the traction force control instructions of each winch are set to zero, and the automatic docking and sitting on the pier are completed.

[0114] It can be understood that the above takes as the judgment mark for the docking equipment to be towed into place. In fact, when docking, the distances between the docking equipment and the left dock wall and the right dock wall in the transverse direction also need to be considered to avoid the docking equipment being too far to the left or right. However, during towing, During the process, the traction forces of the towing ropes of the winches at the front left, front right, rear left, and rear right are continuously adjusted to prevent the docking equipment from leaning too much to the left or right. Therefore, when this happens, the distances between the docking equipment and the left dock wall and the right dock wall in the transverse direction actually meet their respective target distances.

[0115] The embodiment of the present application also provides a method for using an automatic docking and seating system for a floating dock, which includes the following steps:

[0116] 101: Install the ranging subsystem on the docking equipment 1 and measure the distance information of the docking equipment 1;

[0117] 102: Tie the towing ropes 5 of the three winches 3 corresponding to the bow, front left, and front right of the docking equipment 1 to the bollards at the bow marking point 10;

[0118] 103: Tie the towing ropes 5 of the two winches 3 corresponding to the rear left and rear right positions of the docking equipment 1 to the bollards at the stern marking point 11;

[0119] 104: Generate a traction force control instruction based on 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 equipment 1 is completed.

[0120] In the description of the present application, it should be noted that the orientation or positional relationship indicated by terms such as "upper" and "lower" is based on the orientation or positional relationship shown in the drawings. It is 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. Therefore, it should not be construed as a limitation to the present application. Unless otherwise clearly specified and limited, the terms "installation", "connection", and "connection" 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 directly connected or indirectly connected through an intermediate medium, and it can be the internal communication of 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 specific circumstances.

[0121] 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 actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising an..." does not exclude the presence of additional identical elements in the process, method, article or device comprising the said element.

[0122] The above are only specific embodiments of the present application, enabling those skilled in the art to understand or implement the present application. Various modifications to these embodiments will be obvious 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 these embodiments shown herein, but rather to the broadest scope consistent with the principles and novel features claimed 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 connected to the distance measuring subsystem and the traction subsystem via the communication subsystem, and 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; The control subsystem includes a control console; The control console includes a control cabinet and an industrial computer 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 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).

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; The console includes a display screen and a control panel; 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 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).

9. A method for using the floating dock automatic docking and pier system according to any one of claims 1 to 8, 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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