Ship lightering system

Abstract

The invention provides a ship lightering system, and relates to the technical field of ship lightering, the ship lightering system comprises a hoisting device arranged on a supply ship to hoist a hoisting load; the moving module is used for being arranged on a supplied ship and connected with a hoisting load; and the control module is used for being in communication connection with the hoisting equipment and the moving module and controlling the moving module to be matched with the hoisting equipment to adjust the pose of the hoisting load. The hoisting load is adjusted through the moving module, and the lightering safety between ships can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of ship lightering, and in particular to a ship lightering system. Background Art

[0002] In maritime logistics and port operations, ship operations are crucial for ensuring the efficient flow of cargo. They are widely used for emergency resupply at anchorages, cargo transshipment when ports have insufficient berthing capacity, and material transportation in specialized waters (such as oil fields and islands without fixed docks). Whether it's the inter-vessel transfer of energy materials like crude oil and liquefied natural gas (LNG), or the loading and unloading of containers and bulk cargo, transshipment operations can overcome the limitations of terminal facilities, flexibly connecting transport links for vessels of varying tonnages and types, and supporting the flow of materials for trade and offshore projects.

[0003] In related technologies, traditional crane lifting and transshipment rely on a fixed crane layout, which is limited by arm length and lifting capacity, and is easily affected by waves, currents, etc. During the lifting process, the cargo may swing or even collide, affecting the safety of ship cargo transportation. Summary of the Invention

[0004] The problem solved by the present invention is how to improve the safety of ship-to-ship transfer.

[0005] In order to solve the above problems, the present invention provides a ship transfer system.

[0006] In a first aspect, the present invention provides a ship transfer system, comprising: Hoisting equipment, used to be set on the supply ship to hoist the hoisted load; A mobile module, configured to be placed on the supplied ship and connected to the hoisted load; The control module is used to communicate with the hoisting equipment and the mobile module respectively, and control the mobile module to cooperate with the hoisting equipment to adjust the posture of the hoisted load.

[0007] Optionally, the system further comprises a laser radar provided on the supplied vessel, and the control unit is further configured to: Obtaining a first relative coordinate of the origin of the local coordinate system of the laser radar in a preset reference coordinate system, and a second relative coordinate of the mobile module in the local coordinate system; According to the first relative coordinate and the second relative coordinate, a mobile module coordinate vector of the mobile module in the reference coordinate system is obtained through a preset reference coordinate relationship.

[0008] Optionally, the reference coordinate relationship satisfies: ; in, is the coordinate vector of the i-th mobile module relative to the reference coordinate system {O}, K i is the coordinate of the ith mobile module relative to the reference coordinate system {O}, X1 is the first relative coordinate, X2 is the second relative coordinate, and θ is the preset rotation angle.

[0009] Optionally, the mobile module is connected to the hoisted load via a traction rope; and controlling the mobile module to cooperate with the hoisting equipment to adjust the posture of the hoisted load includes: Obtaining a desired posture of the hoisted load; Based on the coordinates of the mobile module and the desired posture, the desired rope length of the mobile module at the preset position is obtained by the kinematic inverse solution principle, and the desired tension of the mobile module at the preset position is obtained by the dynamic balance principle; The mobile module is controlled to adjust the hoisted load to the desired posture according to the desired rope length and the desired tension.

[0010] Optionally, controlling the moving module to adjust the hoisted load to the desired posture according to the desired rope length and the desired tension includes: Obtaining the current rope length and current tension of the traction rope of the mobile module; Obtaining a rope length adjustment value according to a difference between the current rope length and the desired rope length; The moving module is controlled to adjust the length of the traction rope through the rope length adjustment value.

[0011] Obtaining a tension adjustment value according to a difference between the current tension and the desired tension; The moving module is controlled to adjust the tension of the traction rope through the tension adjustment value.

[0012] Optionally, the mobile module includes a base, a lifting mechanism, a rope-out mechanism, a fixed pulley mechanism, a lifting pulley mechanism, a rotating pulley mechanism, a laser ranging mechanism, a universal wheel and a suction cup mechanism. The universal wheel and the suction cup mechanism are respectively provided on the lower surface of the base, the lifting mechanism is provided on the upper surface of the base, and the rope-out mechanism is provided on the upper surface of the lifting mechanism. The fixed pulley mechanism, the lifting pulley mechanism and the rotating pulley mechanism are sequentially arranged on the upper surface of the lifting structure in a direction away from the rope-out mechanism. The laser ranging mechanism is arranged on a side of the rotating pulley mechanism away from the rope-out mechanism. One end of the traction rope of the rope-out mechanism passes through the fixed pulley mechanism, the lifting pulley mechanism, the rotating pulley mechanism and the laser ranging mechanism and is connected to the hoisted load.

[0013] Optionally, the guide mechanism includes a first positioning assembly, a second positioning assembly, a positioning plate and a guide rod, one end of the guide rod is connected to the sliding block, and the other end of the guide rod passes through the positioning plate and the second positioning assembly along the first direction and then is connected to the first positioning assembly, the laser rangefinder is arranged at one end of the positioning plate, and one end of the traction passes through the sliding block, the positioning plate, the second positioning assembly and the first positioning assembly along the first direction and then is connected to the hoisted load.

[0014] Optionally, the first positioning assembly includes a first positioning assembly body and a symmetrically arranged first positioning member, the first positioning member includes a first pulley and a first spring, one end of the first spring is connected to one end of the first positioning assembly body, and the other end of the first spring is abutted against the traction rope passing through the first positioning assembly body through the first pulley, and the second positioning assembly includes a second positioning assembly body and a symmetrically arranged second positioning member, the second positioning member includes a second pulley and a second spring, one end of the second spring is connected to one end of the second positioning assembly body, and the other end of the second spring is abutted against the traction rope passing through the second positioning assembly body through the second pulley.

[0015] Optionally, the hoisting equipment includes a robotic arm, which is arranged on the supply ship. A translation mechanism is provided on the hoisted load, and the lead-out end of the traction rope of the robotic arm is connected to the translation mechanism of the hoisted load.

[0016] The beneficial effects of the ship transshipment system of the present invention are: the lifting equipment is set on the supply ship, which can stably lift the load on the supply ship and provide reliable basic support for the transshipment operation; the mobile module is arranged on the supplied ship, and the mobile module and the transshipment load can be directly connected or connected through, for example, a towing rope. Through the cooperation of the mobile module, the posture of the transshipment load can be flexibly adjusted so that the transshipment load can maintain the desired posture for transshipment, and at the same time, the impact of the shaking and drifting of the ship in the wind and waves on the transshipment load can be offset; the control module is connected through communication with the transshipment equipment and the mobile module, and accurately controls the mobile module to cooperate with the transshipment equipment for transshipment. The posture of the transshipment load can be more accurately and dynamically adjusted in real time, avoiding the risk of load collision and slipping due to posture deviation, reducing operational errors caused by relative movement of the ship, ensuring the stable transmission of the load throughout the transshipment operation, reducing the probability of safety accidents, and ensuring that the ship transshipment operation is safe and efficient. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a structural schematic diagram of a ship's barge system according to an embodiment of the present invention; Figure 2 This is a schematic structural diagram of a hoisting load according to an embodiment of the present invention; Figure 3 Schematic diagram of the structure of a mobile module according to an embodiment of the present invention; Figure 4 Schematic diagram of the structure of the laser ranging mechanism according to an embodiment of the present invention; Figure 5 Schematic diagram of the structure of the reference coordinate system and the local coordinate system of the hoisting load according to an embodiment of the present invention; Figure 6 This is a schematic diagram of the structure of a hoisting load and multiple mobile modules according to an embodiment of the present invention; Figure 7 This is a schematic structural diagram of a laser ranging guide rail according to an embodiment of the present invention; Figure 8 Schematic diagram of the structure of the mobile module in different states according to an embodiment of the present invention; Figure 9 Schematic diagram of the structure of the guide mechanism of an embodiment of the present invention.

[0018] Description of reference numerals: 1- Hoisting equipment; 2- Supply ship; 3- Hoisting load; 4- Mobile module; 41- Base; 42- Universal wheel; 43- Suction cup mechanism; 44- Lifting mechanism; 45- Rope-discharging mechanism; 46- Fixed pulley mechanism; 47- Lifting pulley mechanism; 48- Rotating pulley mechanism; 49- Laser ranging mechanism; 491- Laser ranging guide rail; 4911- Track inner contour; 4912- Track outer contour; 492- Guide rail bracket; 493- Sliding block; 494- Laser rangefinder; 495- Guide mechanism ;4951-first positioning assembly;49511-first positioning member;495111-first pulley;495112-first spring;49512-first positioning assembly body;4952-second positioning assembly;49521-second positioning member;495211-second pulley;495212-second spring;49522-second positioning assembly body;4953-positioning plate;4954-guide rod;5-supply ship;6-traction rope;7-ball clamp;8-translation mechanism. DETAILED DESCRIPTION

[0019] To make the above-mentioned objects, features, and advantages of the present invention more clearly understood, specific embodiments of the present invention are described in detail below with reference to the accompanying drawings. Although certain embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be construed as being limited to the embodiments described herein. Instead, these embodiments are provided to provide a more thorough and complete understanding of the present invention. It should be understood that the drawings and embodiments of the present invention are for illustrative purposes only and are not intended to limit the scope of protection of the present invention.

[0020] It should be understood that the various steps described in the method embodiments of the present invention may be performed in different orders and / or in parallel. In addition, the method embodiments may include additional steps and / or omit the steps shown. The scope of the present invention is not limited in this respect.

[0021] The term "including" and its variations used in this document are open inclusions, that is, "including but not limited to"; the term "based on" means "based at least in part on"; the term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one other embodiment"; the term "some embodiments" means "at least some embodiments"; the term "optionally" means "optional embodiments". The relevant definitions of other terms will be given in the following description. It should be noted that the concepts of "first", "second", etc. mentioned in the present invention are only used to distinguish different devices, modules or units, and are not used to limit the order or interdependence of the functions performed by these devices, modules or units.

[0022] It should be noted that the modifications of "one" and "multiple" mentioned in the present invention are illustrative rather than restrictive. Those skilled in the art should understand that unless otherwise clearly indicated in the context, it should be understood as "one or more".

[0023] The names of the messages or information exchanged between multiple devices in the embodiments of the present invention are only used for illustrative purposes and are not used to limit the scope of these messages or information.

[0024] In related technologies, traditional crane lifting and transshipment rely on a fixed crane layout. Due to the limitations of arm length and lifting capacity, it is difficult to adapt to super-large ships or irregularly shaped cargoes. In addition, the swing of cargoes during the lifting process can easily cause collisions, threatening the safety of ships and cargoes. At the same time, it is easily affected by waves, currents, etc. The transportation accuracy and stability during the transshipment process are poor, which may cause cargo to spill, shake or be damaged, etc., and it is impossible to load and unload quickly and accurately, which seriously affects the operating efficiency and increases the safety hazards in the cargo transshipment process. Even when transshipping dangerous goods, minor mistakes may cause major safety accidents such as leakage and explosion, posing a threat to the marine ecology and human lives.

[0025] In view of the problems existing in the above-mentioned related technologies, an embodiment of the present invention provides a ship transfer system.

[0026] like Figure 1 and Figure 2 As shown, an embodiment of the present invention provides a ship transfer system, comprising: A lifting device 1 is provided on a supply vessel 2 to lift a load 3; A mobile module 4 is configured to be mounted on a supply vessel 5 and connected to the hoisted load 3; The control module is used to communicate with the hoisting device 1 and the mobile module 4 respectively, and control the mobile module 4 to cooperate with the hoisting device 1 to adjust the posture of the hoisted load 3.

[0027] Specifically, the lifting equipment 1 (which can be installed on the supply vessel 2 or anywhere else suitable depending on the actual operating cycle, such as on the supplied vessel or a fixed platform) serves as the "active lifting end" for the transfer operation, providing the core lifting power output. It is typically a dedicated crane / hoist (such as a crane or gantry crane) adapted for the deck of the supply vessel 2, equipped with a high lifting capacity and luffing / slewing capabilities. It can grasp the load 3 (such as a container, bulk hopper, tank container, etc.) through hooks and spreaders. A motor and hydraulic system drive the winding of the wire rope / chain to achieve initial lifting, lowering, and horizontal swing adjustment of the load, lifting it from the cargo hold / deck of the supply vessel 2 to the transfer operation area between the two ships. To adapt to the ship's swaying environment, an anti-roll compensation system (such as active heave compensation) can be installed to offset the hull's heave caused by waves, ensuring a smooth lifting process. Under complex offshore conditions, the load's lifting and lowering speed and position can be precisely controlled to avoid collision with the hulls of the two ships.

[0028] Mobile module 4 (installed on supply vessel 2) serves as the "coordinated adjustment terminal" for the transshipment operation, performing refined position corrections on the hoisted load 3 via towing ropes 6 (e.g., high-strength steel wire ropes or synthetic fiber cables). These are typically multiple (e.g., 4 to 8) mobile actuators mounted on the deck of the supply vessel 5 (e.g., a mobile trolley with a winch or a multi-degree-of-freedom robotic arm base), distributed around the supply vessel 5's operating area as needed. Each mobile module 4 adjusts its distance from the load's connection point (e.g., a lifting point or fixture) by retracting and extending towing ropes 6. This, in conjunction with the hoisting equipment 1, enables six-degree-of-freedom position adjustment (translation along the x / y / z axes and rotation around the x / y / z axes) of the load. The coordination of mobile modules 4 compensates for the lack of adjustment capabilities of lifting equipment 1. When two ships at sea experience relative roll, pitch, and yaw, it's difficult for the crane on supply ship 2 alone to precisely align it with the cargo hatch or receiving platform of the supplied ship 5. Mobile modules 4 use traction ropes 6 to adjust the posture of the hoisted load 3, ensuring that its position and landing point match those of the supplied ship 5. For example, when lifting heavy cargo, multiple sets of mobile modules 4 can coordinate the retraction and extension of ropes to keep the tank container level and prevent liquid sloshing; or, alternatively, to align long, rectangular cargo with the guide rails or slots of the supplied ship 5.

[0029] The control module, serving as the intelligent coordination hub, connects to the hoisting equipment 1 and the mobile module 4 via a communication network (e.g., industrial Ethernet, wireless data transmission). This allows real-time collection of hoisting equipment 1 lifting parameters (e.g., boom angle, hook tension, load weight), mobile module 4 status (e.g., traction rope 6 length, winch torque, module position), and the position and posture data of the hoisted load 3 (which can be acquired through lidar, inertial measurement units, and visual recognition systems).

[0030] Planning strategy: Based on the relative motion state of the two ships (monitored by GPS and ship motion sensors) and the target load position, the coarse adjustment path of the lifting equipment 1 (such as boom extension and lifting height) and the retraction and deployment plan of the traction rope 6 of the mobile module 4 are planned.

[0031] Dynamic collaboration: Compare the actual posture with the expected posture deviation in real time, and output instructions through algorithms (such as proportional-integral-differential control, model predictive control, etc.) to allow the lifting equipment 1 to adjust the main lifting action, while driving the mobile module 4 to retract and release the traction rope 6, synchronously compensating for interference such as the relative motion of the two ships and the inertial swing of the load, ensuring that the load is precisely positioned.

[0032] For example, the hoisting equipment 1 on supply vessel 2 activates, grabs the hoisted load 3 with its spreader, and initially lifts it to the working height between the two vessels. At this point, the hoisted load 3 may sway due to the hull's swaying and the inertia of the lifting. The control module uses sensors installed on both vessels to obtain real-time information about the current position of the hoisted load 3 (such as position coordinates and tilt angle) and the relative motion data between the two vessels (such as rolling speed and pitch angle). Based on the control module's instructions, the hoisting equipment 1 fine-tunes the boom angle and lifting speed to suppress the tank container's large swing (coarse adjustment). The mobile modules 4 simultaneously retract and release the towing rope 6. If the tank container drifts toward the port side of the supply vessel 5, the right mobile module 4 retracts the rope and the left mobile module releases it, pulling the tank container back to its normal position. If the tank container tilts, the diagonal mobile modules 4 coordinately retract and release the rope to restore it to a level position. Closed-loop control continues until the tank container's position is fully aligned with the receiving platform of the supply vessel 5, and it is then slowly lowered to complete the transfer.

[0033] In this embodiment, the lifting equipment 1 is set on the supply ship 2, which can stably lift the load on the supply ship 2 and provide reliable basic support for the transshipment operation; the mobile module 4 is arranged on the supplied ship 5, and the mobile module 4 and the lifting load 3 are connected by a towing rope 6. The cooperation of the mobile module 4 can flexibly adjust the posture of the lifting load 3, so that the lifting load 3 can maintain the desired posture for transshipment, and at the same time offset the impact of the shaking and drifting of the ship in the wind and waves on the lifting load 3; the control module is connected to the lifting equipment 1 and the mobile module 4 through communication, and accurately controls the mobile module 4 to cooperate with the lifting equipment 1 for transshipment. It can more accurately and dynamically adjust the posture of the lifting load 3 in real time, avoid the risk of load collision and slipping due to posture deviation, reduce operational errors caused by relative movement of the ships, ensure the stable transmission of the load throughout the transshipment operation, reduce the probability of safety accidents, and ensure that the ship transshipment operation is safe and efficient.

[0034] Alternatively, as Figure 1 As shown, the system further includes a laser radar disposed on the supplied ship 5, and the control unit is further configured to: Obtaining a first relative coordinate of the origin of the local coordinate system of the laser radar in a preset reference coordinate system, and a second relative coordinate of the mobile module 4 in the local coordinate system; According to the first relative coordinate and the second relative coordinate, a mobile module coordinate vector of the mobile module 4 in the reference coordinate system is obtained through a preset reference coordinate relationship.

[0035] Optionally, the reference coordinate relationship satisfies: ; in, is the coordinate vector of the i-th mobile module relative to the reference coordinate system {O}, K i is the coordinate of the ith mobile module relative to the reference coordinate system {O}, X1 is the first relative coordinate, X2 is the second relative coordinate, and θ is the preset rotation angle.

[0036] Specifically, one or more laser radars (LIDARs) can be deployed on the deck of the supply vessel 5, each with an independent local coordinate system. The LIDARs scan the laser reflector or optical target on the mobile module 4 to determine the position of the mobile module 4 in its local coordinate system. The origin and coordinate axes of a preset reference coordinate system remain fixed relative to the deck of the supply vessel 5, with its x- and y-axes parallel to the deck plane and its z-axis perpendicular to the deck plane. This coordinate system serves as the operational benchmark for the entire transfer system, and all load positions and the position of the mobile module 4 are referenced to it. The second relative coordinate X2 represents the coordinate of the LIDAR's local coordinate system origin in the reference coordinate system, which can be obtained through pre-calibration or real-time measurement. The first relative coordinate X1 represents the coordinate of the mobile module 4 in the LIDAR's local coordinate system and can be directly measured by the LIDAR. Using the reference coordinate system relationship, the corresponding mobile module coordinate vector of the mobile module 4 in the reference coordinate system can be calculated from the first relative coordinate X1 and the second relative coordinate X2, where the preset rotation angle θ represents the rotation angle around the z-axis of the reference coordinate system when the LIDAR is installed.

[0037] Furthermore, if Figure 5 As shown in the figure, when four laser radars are configured, namely P1, P2, P3 and P44 local coordinate systems of the hoisted load, each laser radar can independently measure the local coordinates corresponding to the mobile module 4, and then obtain its corresponding coordinate K in the reference coordinate system O through coordinate conversion. i When defining the coordinate system, it can be agreed that the z-axis of the quasi-coordinate system corresponding to the supply ship base and the local coordinate system of the laser radar's hoisted payload are perpendicular to the plane of the supply ship's deck. The reference coordinate system O is fixed to the deck and moves with the supply ship's deck, while the global coordinate system Q is fixed relative to the earth and is used to represent the translation and rotation of the supply ship's deck relative to the earth. Cross-validation of multiple data sets (such as calculating the deviation norm of different laser radar measurement results) can improve positioning accuracy and system robustness.

[0038] In this optional embodiment, by obtaining the first relative coordinates of the mobile module 4 in the local coordinate system and the second relative coordinates of the origin of the laser radar local coordinate system in the reference coordinate system, and then calculating the coordinates of the mobile module 4 in the reference coordinate system with the help of a preset reference coordinate relationship, the beneficial effect is that the conversion and fusion of coordinate data under different coordinate systems is realized, so that the position of the mobile module 4 can be accurately represented in a unified reference coordinate system, providing an accurate coordinate basis for the positioning, navigation and path planning of the mobile module 4, effectively improving the system's acquisition accuracy and processing efficiency of the mobile module 4 position information, and ensuring the stability and accuracy of the mobile module 4 in a complex environment.

[0039] Alternatively, as Figure 1As shown, controlling the mobile module 4 to cooperate with the hoisting equipment 1 to adjust the posture of the hoisted load 3 includes: Obtaining the desired posture of the hoisted load 3; Based on the coordinate vector of the mobile module and the desired posture, the desired rope length of the mobile module 4 at the preset position is obtained by the kinematic inverse solution principle, and the desired tension of the mobile block at the preset position is obtained by the dynamic balance principle; The moving module 4 is controlled to adjust the hoisted load 3 to the desired posture according to the desired rope length and the desired tension.

[0040] It should be noted that when adjusting the posture of the hoisted load 3 by rope length and tension, if it is necessary to fully control the six degrees of freedom for posture adjustment, at least six mobile units or more should be configured for coordinated adjustment, and the hoisted load 3 is pulled by the traction rope 6 of each mobile module 4 and the connection points at different positions of the hoisted load 3, thereby achieving posture adjustment with six degrees of freedom. Figure 6 As shown in FIG. 1 , it is a schematic diagram of six mobile modules 4 adjusting the posture of the hoisted load 3, wherein the position coordinate of any i-th mobile module 4 relative to the reference coordinate system {O} is K i The corresponding connection point between the traction rope 6 and the hoisting load 3 is B i The coordinate system where the hoisted load 3 is located is the local coordinate system {P} of the hoisted load 3, the coordinate system where the supply ship 5 is located is the reference coordinate system {O}, and the coordinate system fixed on the earth is the global coordinate system {Q}, which is used to describe the movement of the supply ship 5. The connection point between the hoisting equipment 1 and the hoisted load 3 is H. For example, in the posture adjustment of large-mass load transshipment, the reference coordinate system {O} is fixed to the deck of the supply ship 5 and serves as the operation reference for positioning the mobile module 4, load posture calculation and unified operation reference. The local coordinate system {P} of the hoisted load is fixed to the hoisted load 3 and is used to characterize the load posture, describe the position of the lifting point and the reference for center of mass adjustment. The global coordinate system {Q} is fixed to the earth and is used to sense the movement of the ship, perform mechanical balance analysis and provide a basis for multi-system collaboration. The three realize precise posture control through coordinate transformation and information fusion. Six or more mobile modules 4 are used to move through universal wheels 42 and be fixed by suction cup mechanisms 43. They are coordinated with lifting mechanisms 44, rope-out mechanisms 45, etc., and through coordinated control of rope length and tension, combined with sensing equipment such as laser radar and tension sensors, based on the rope-driven parallel system model, fine adjustment of the load's six-degree-of-freedom posture is achieved. The number of six-degree-of-freedom postures can be adjusted according to the load conditions. Through configuration reconstruction, the feasible workspace requirements of the force rotation under different working conditions can be met, thereby improving operation accuracy and safety.

[0041] Specifically, the control mobile module 4 cooperates with the hoisting equipment 1 to adjust the posture of the hoisted load 3. First, the desired posture of the hoisted load 3 needs to be obtained. The posture clarifies the target position and posture that the load should reach in space. The desired posture includes the specific position of the connection point between the traction rope 6 of the mobile module 4 and the hoisted load 3. Then, based on the current coordinates and the desired posture of the mobile module 4, the kinematic inverse solution principle is applied to establish a geometric model and a coordinate system to transform the desired posture coordinates and calculate the desired length of the traction rope 6 when the mobile module 4 is at the preset position. The desired rope length can also be calculated by the kinematic forward solution method and the visual assistance method. At the same time, combined with the principle of dynamic equilibrium, considering the external forces such as gravity and inertia acting on the load, under the condition of satisfying the force and torque balance, the desired tension of the traction rope 6 when the mobile module 4 is at the preset position is solved. The desired tension can also be calculated by the dynamic tension estimation method and the stiffness matching method. Finally, the control moving module 4 moves according to the desired rope length and desired tension, thereby adjusting the hoisted load 3 to the desired posture. The entire process is carried out through precise calculation and control to ensure the accuracy and safety of the hoisting operation.

[0042] In this optional embodiment, by obtaining the desired posture and combining the kinematic inverse solution and the principle of dynamic equilibrium to determine the parameters of the towing rope 6, accurate planning and control of the movement of the hoisting load 3 is achieved, which can effectively avoid the errors caused by experience-based operations in traditional hoisting and greatly improve the operation accuracy; in actual application, this method can respond to the complex working conditions of ship transshipment in real time, quickly adjust the load posture, and significantly improve the operation efficiency; the parameter calculation based on the principle of mechanics ensures the reasonable distribution of the tension of the towing rope 6, reduces equipment wear and safety hazards, and ensures the safety of transshipment operations.

[0043] It's important to note that tension and rope length control parameters can be adaptively adjusted in real time based on the ship's motion and load status. The ship's motion is predicted by combining data collected by inertial measurement units (IMUs) with machine learning based on extensive experimental data. This predicted motion information allows the control system to determine when to load, predict potential risks, and adjust control strategies in advance.

[0044] Specifically, the desired rope length satisfies: ; The expected tension matrix T composed of the traction rope tensions of all mobile modules satisfies: T=W + F+(IW + W)λ; ; Among them, λ is the optimization coefficient, based on the tension threshold constraint T min ≤T i ≤T max (1≤i≤n), generate a tension feasible solution that satisfies the tension threshold constraint, that is, T i is the i-th element in the expected tension matrix T of all mobile modules, that is, T i represents the expected tension of the traction rope corresponding to the i-th mobile module, T min is the preset lower limit of the rope tension, T max is the preset upper limit of the rope tension, L i is the expected rope length corresponding to the traction rope of the i-th mobile module, is the rotation matrix of the reference coordinate system {O} relative to the preset global coordinate system {Q}, is the rotation matrix of the preset hoisting load local coordinate system {P} relative to the reference coordinate system {O}, is the coordinate vector of the origin P of the local coordinate system of the hoisted load relative to the global coordinate system {Q}, is the coordinate vector of the origin O of the reference coordinate system of the supply ship relative to the global coordinate system {Q}, is the coordinate vector of the connection point B1 between the traction rope of the first mobile module and the hoisted load relative to the local coordinate system {P} of the hoisted load, is the connection point B between the traction rope of the i-th mobile module and the hoisting load i The coordinate vector relative to the local coordinate system {P} of the hoisted load, The connection point B between the traction rope of the nth mobile module and the hoisting load n The coordinate vector relative to the local coordinate system {P} of the hoisted load, is the coordinate vector of the i-th mobile module relative to the reference coordinate system {O}, || ||2 is the two-norm of the orientation quantity, u1 is the unit direction vector of the traction rope corresponding to the first mobile module, u2 is the unit direction vector of the traction rope corresponding to the second mobile module, u i is the unit direction of the traction rope corresponding to the i-th mobile module, n is the number of mobile modules, u n is the unit direction vector of the traction rope corresponding to the nth mobile module, W is the structure matrix, is the pseudo-inverse of the matrix W, is any second solution coefficient vector, F is the external force matrix, and the external force matrix F is related to the state of the current hoisting load and changes in real time. The corresponding external force matrix is determined according to the kinematic parameters of the current hoisting load and the tension of the traction rope of the crane of the supply ship.

[0045] Alternatively, as Figure 1 As shown, controlling the moving module 4 to adjust the hoisted load 3 to the desired posture according to the desired rope length and the desired tension includes: Obtaining the current length and tension of the traction rope 6 of the mobile module 4; Obtaining a rope length adjustment value according to a difference between the current rope length and the desired rope length; Controlling the moving module 4 to adjust the length of the traction rope 6 through the rope length adjustment value; Obtaining a tension adjustment value according to a difference between the current tension and the desired tension; The moving module 4 is controlled to adjust the tension of the traction rope 6 through the tension adjustment value.

[0046] Specifically, a laser rangefinder or wire sensor is installed at the end of the traction rope of the mobile module 4 to directly measure the actual length of the rope after elastic extension. The rope winding motor encoder can also record the rope payout length and, combined with pre-calibrated rope stiffness data, calculate the rope length after elastic extension. A tension sensor (e.g., a strain gauge) is installed on the rope outlet mobile module 4 for traction rope 6 to collect rope tension in real time. The current rope length is compared with the desired rope length, and based on the comparison result, the mobile module 4 is controlled to adjust the length of the drawn traction rope 6 to the desired length. Similarly, the current tension of the traction rope 6 is compared with the desired tension, and the tension of the traction rope 6 is adjusted based on the comparison result. Ultimately, the rope length and tension of the traction rope 6 of the mobile module 4 reach the desired values, allowing the hoisted load 3 to be adjusted to the desired position.

[0047] For example, when the connection point between one end of the traction rope 6 of a mobile module 4 and the hoisted load 3 is at the high end of the hoisted load 3, and the desired posture of the hoisted load 3 is to adjust the high end downward to the low end, it is necessary to control the mobile module 4 to move to just below the connection point. At this time, the length of the traction rope 6 led out by the mobile module 4 is the current length, and the tension is the current tension. Through calculations based on kinematic and dynamic relationships, the desired length and desired tension corresponding to the traction rope 6 after the connection point is adjusted to the low end are obtained, so that the current rope length and the desired rope length are adjusted to the desired rope length by controlling the mobile module 4, that is, by tightening the traction rope 6 and adjusting it to the desired rope length, the high end connection point of the hoisted load 3 falls to the low end, and the tension of the traction rope 6 is adjusted to the desired tension. Reasonable control of the tension can prevent the rope from breaking due to excessive force exceeding the tensile limit. If the rope tension exceeds its rated strength, it may cause heavy objects to fall and cause safety accidents. It should be noted that multiple mobile modules 4 can be set up, and the traction rope 6 of each mobile module 4 is connected to different connection points of the hoisted load 3. By adjusting the hoisted load 3 through the cooperation of multiple mobile modules 4, it can be ensured that the hoisted load 3 can be adjusted to the desired posture more quickly and stably.

[0048] Specifically, during the rope length adjustment process of the traction rope 6, the current rope length can be obtained in real time through sensors such as encoders and laser ranging, and the difference between the current rope length and the calculated expected rope length is calculated. In order to avoid overshoot or too slow adjustment, the proportional-integral-differential control algorithm is often used to comprehensively consider the proportional, integral, and differential terms of the difference to obtain an accurate rope length adjustment value; then, the adjustment value is passed to the mobile module 4 control system as a core control instruction. The system controls the motor to rotate forward or reverse according to its size and positive and negative, driving the reel to reel in and release the rope to adjust the length. At the same time, the sensor continuously monitors the rope length change and feedback to form a closed-loop control until the rope length difference is within the error range; in actual execution, the motor and reel combination serves as an actuator, and in precision scenarios it will also cooperate with a high-precision transmission device, and the system is equipped with a limit device. When the traction rope 6 approaches the limit length, protection is triggered to prevent equipment damage or safety accidents.

[0049] Furthermore, the core of the tension control process is based on closed-loop feedback control logic. A tension sensor collects the current tension of the traction rope 6 in real time and compares it with a preset desired tension value. The difference between the two is calculated as an error signal. This error is then converted into a tension adjustment value using algorithms such as proportional-integral-differential control. This adjustment value is then converted into a control signal to drive the mobile module 4 to adjust the tension of the traction rope 6. The tension is adjusted by tightening or loosening the traction rope 6. After adjustment, the sensor detects the current tension again and repeats the "detect-compare-calculate-execute" cycle until the tension stabilizes near the target value. After the traction rope 6 length is adjusted to the desired length, the tension of the traction rope 6 is also ensured to reach the desired tension, allowing the traction rope 6 to adapt to the current load or working conditions. Adjusting the tension prevents the traction rope 6 from loosening and shaking due to insufficient force, thus avoiding traction failure. It also prevents the rope from breaking due to overload due to excessive tension. This ensures the operational stability and trajectory accuracy of the mobile module 4 at the desired rope length. By adjusting the desired tension after the desired rope length, the hoisted load 3 can be suspended stably without shaking.

[0050] In this optional embodiment, by acquiring the current length and tension of the traction rope 6 of the mobile module 4 in real time, comparing them with the desired length and tension, and then precisely adjusting them, this control method significantly improves the stability and reliability of the system. This avoids equipment collisions and traction failures caused by ropes that are too short or too long, while also preventing rope breakage due to excessive tension and swaying caused by insufficient tension. This effectively ensures that the mobile module 4 operates safely along its intended trajectory, reduces equipment wear, and improves work efficiency.

[0051] Alternatively, as Figures 1 to 3 As shown, the mobile module 4 includes a base 41, a lifting mechanism 44, a rope-discharging mechanism 45, a fixed pulley mechanism 46, a lifting pulley mechanism 47, a rotating pulley mechanism 48, a laser ranging mechanism 49, a universal wheel 42 and a suction cup mechanism 43. The universal wheel 42 and the suction cup mechanism 43 are respectively provided on the lower surface of the base 41, the lifting mechanism 44 is provided on the upper surface of the base 41, and the rope-discharging mechanism 45 is provided on the upper surface of the lifting mechanism 44. The fixed pulley mechanism 46, the lifting pulley mechanism 47 and the rotating pulley mechanism 48 are sequentially arranged on the upper surface of the lifting structure in a direction away from the rope-discharging mechanism 45. The laser ranging mechanism 49 is arranged on a side of the rotating pulley mechanism 48 away from the rope-discharging mechanism 45. One end of the traction rope 6 of the rope-discharging mechanism 45 passes through the fixed pulley mechanism 46, the lifting pulley mechanism 47, the rotating pulley mechanism 48 and the laser ranging mechanism 49 and is connected to the hoisted load 3.

[0052] Specifically, the base 41 serves as the foundation for the mobile module 4. The universal wheels 42 on its lower surface can be made of high-strength, wear-resistant material. Through a flexible steering shaft design, the module can achieve 360-degree steering in a variety of ground conditions, facilitating rapid movement of the module to the designated work area. The suction cup mechanism 43, comprised of vacuum suction cups, creates a strong grip on the deck of the supply vessel 5, ensuring the module remains stable and stable during operation. For example, during the movement of the mobile module, the suction cup mechanism on the supply vessel determines whether to adhere to the module based on a rope tension threshold. If the tension exceeds a predetermined threshold, indicating a system malfunction, the suction cup is activated, releasing the rope to protect the device and reduce rope tension. The lifting mechanism 44 on the upper surface of the base 41 can utilize a hydraulically driven structure and a lifting platform, enabling precise height adjustment over a wide range to meet the height requirements of different operational scenarios. A rope discharging mechanism 45 is located above the platform of the lifting mechanism 44. Equipped with a high-performance motor and a precision cable routing device, this mechanism stably retracts and releases the high-strength traction rope 6. Precise control of the traction rope 6 is achieved by controlling the motor's forward and reverse rotation and speed. The fixed pulley mechanism 46 is used to change the initial direction of the traction rope 6 and reduce the friction between the rope and the equipment; the lifting pulley mechanism 47 can rise and fall synchronously with the lifting mechanism 44, and always keep the traction rope 6 at a reasonable force angle when adjusting the hoisting height; the rotating pulley mechanism 48 can rotate flexibly around the axis. When the hoisting load 3 needs to be displaced horizontally, the bending loss of the traction rope 6 can be reduced, and the stability of the system can be improved. The laser ranging mechanism 49 located on the outside of the rotating pulley mechanism 48 uses a high-precision laser sensor to monitor the distance between the hoisting load 3 and obstacles and target positions in real time, and feeds data back to the control system to avoid collision risks. The traction rope 6 starts from the rope output mechanism 45, passes through the fixed pulley mechanism 46, the lifting pulley mechanism 47, the rotating pulley mechanism 48 and the laser ranging mechanism 49 in sequence, forming a complete traction system for the hoisting load 3, realizing precise control and safe operation of the hoisting load 3. As Figure 8 As shown in FIG, there are two state diagrams of the mobile module, wherein the state H1 is that the pulley of the lifting pulley mechanism 47 is at the high end, which is suitable for hoisting the load 3 at a higher position; the state H2 is that the pulley of the lifting pulley mechanism 47 is at the low end, which is suitable for hoisting the load 3 at a lower position.

[0053] In this optional embodiment, the combination of the universal wheel 42 and the suction cup mechanism 43 takes into account both convenient mobility and reliable fixation, and the work site can be quickly transferred and firmly positioned, thereby improving work efficiency; the lifting mechanism 44 can flexibly adjust the height, adapt to a variety of complex working conditions, and expand the scope of application; the rope-out mechanism 45 and the pulley mechanisms cooperate with each other, and through scientific rope path design, effectively reduce the wear of the traction rope 6, improve the system transmission efficiency and stability, and ensure the safety of the lifting operation; the laser ranging mechanism 49 monitors the distance in real time, provides accurate data support for the lifting operation, and can avoid collision risks in advance and reduce the accident rate; through the coordinated work of the various components of the mobile module 4, precise control of the lifting load 3 is achieved, which can not only efficiently complete the heavy object lifting task, but also ensure the safety and reliability of the operation process.

[0054] Alternatively, as Figure 7 and Figure 8 As shown, the laser ranging mechanism 49 includes a laser ranging guide rail 491, a guide rail bracket 492, a sliding block 493, a laser rangefinder 494 and a guide mechanism 495. The laser ranging guide rail 491 is connected to the rotating pulley mechanism 48 through the guide rail bracket 492. The sliding block 493 is slidably connected to the laser ranging guide rail 491. The guide mechanism 495 is provided at one end of the sliding block 493 away from the rotating pulley mechanism 48. The laser rangefinder 494 is provided above the guide mechanism 495. The sliding block 493 is provided with a through hole connected to the guide mechanism 495 along a first direction, and the first direction is the axial direction of the guide mechanism 495.

[0055] In this optional embodiment, the laser ranging mechanism 49 serves as an important device for accurately measuring the rope distance. The mechanism is mainly composed of five core components: a laser ranging guide rail 491, a guide rail bracket 492, a sliding block 493, a laser rangefinder 494, and a guide mechanism 495, which ensure the accuracy and stability of the measurement of the traction rope 6. The laser ranging guide rail 491 is the basic framework of the entire mechanism. It is connected to the rotating pulley mechanism 48 through the guide rail bracket 492. This connection design not only ensures the stability of the laser ranging guide rail 491 relative to the rotating pulley mechanism 48 during operation, but also can achieve flexible rotation or positioning within a certain range with the help of the rotating pulley mechanism 48, providing a stable support platform for the entire measurement process. The role of the guide rail bracket 492 is to further reinforce the laser ranging guide rail 491, reliably fix the laser ranging guide rail 491 in the corresponding position, disperse the forces from all directions, and prevent the guide rail from being displaced or deformed during use, thereby ensuring the accuracy of the measurement. Sliding block 493 is connected to laser rangefinder guide rail 491 by a sliding mechanism, allowing it to slide freely along the laser rangefinder guide rail 491 in a specific direction. A guide mechanism 495 is provided on the end of sliding block 493 away from the rotating pulley mechanism 48. The primary function of guide mechanism 495 is to provide precise directional guidance for the traction rope 6 and to provide support for the laser rangefinder 494. This ensures that the laser beam emitted by the laser rangefinder 494 propagates in a predetermined direction, aligned with the direction of the traction rope 6 drawn through the guide mechanism, thereby preventing measurement errors caused by directional deviations. Mounted above guide mechanism 495 is laser rangefinder 494, the core measuring component of the entire mechanism. Laser rangefinder 494 emits a laser beam and receives the reflected laser signal, using the speed of light and time difference to calculate the distance drawn by the traction rope 6. The precise guidance provided by guide mechanism 495 ensures that the laser beam accurately strikes and returns to the reflector located between the traction rope 6 and the hoisted load 3, achieving highly accurate distance measurement. At the same time, the sliding block 493 is provided with a through hole connected to the guide mechanism 495 along the first direction (i.e., the axial direction of the guide mechanism 495), so that the traction rope 6 can smoothly pass through the through hole and enter the guide device, and then pass through the guide device to connect with the connection point of the hoisted load 3. Figure 7 As shown, the traction rope 6 passes through the two pulleys E of the rotating pulley mechanism 48 and then enters the laser ranging guide rail 491, so that the traction rope 6 is guided by the laser ranging guide rail 491. The laser ranging guide rail 491 is fan-shaped, and the traction rope 6 can swing within the direction defined by the fan-shaped guide rail. The middle part is the non-working area S, and the rest of the area is the working area. The pulley wrap angle generated by the traction rope 6 in the non-working area S is less than 120°, and there is a risk of rope falling off. It is not recommended to adjust the posture of the hoisted load 3 in this area.

[0056] It should be noted that the laser ranging track 491 includes a track inner contour 4911 and a track outer contour 4912. The length of the rope outgoing from the traction rope 6 to the track inner contour 4911 after passing around the pulley E is a, that is, the distance from the track inner contour 4911 to the rope outgoing end of the pulley E is set to a. Similarly, the distance between the track outer contour 4912 and the track inner contour 4911 is set to b. The laser emitted by the laser ranging sensor of the laser rangefinder 494 is parallel to the traction rope 6 leading out from around the pulley E, and the emission point can be set in the working area close to the guide rail inner contour 4911.

[0057] Optionally, the lifting equipment 1 includes a robotic arm, which is arranged on the supply ship 2, and a translation mechanism 8 is provided on the lifting load 3, and the lead-out end of the traction rope 6 of the robotic arm is connected to the translation mechanism 8 of the lifting load 3.

[0058] Specifically, if Figures 1 to 3 As shown, the lifting equipment 1 includes a robotic arm installed on the supply ship 2, which can be a three-degree-of-freedom robotic arm, as well as a traction rope, a tension sensor (measuring rope tension), and an inclination sensor (measuring the angle between the rope and the vertical direction). At the same time, multiple mobile modules 4 are installed on the supply ship 5. The bottom of the mobile block is equipped with a universal wheel 42 (omnidirectional movement) and a suction cup (fixed), and the top is equipped with a lifting mechanism 44, a motor, a cable arrangement mechanism, a pulley height adjustment mechanism, and a laser ranging sensor / wire sensor (redundant measurement of distance between modules). Sensors and measuring devices: inertial measurement unit (measures the position and acceleration of the supply ship 5 and the load), laser radar (positioning the mobile module 4 and the load), laser rangefinder / pull-wire sensor (measures the rope length); load connection part: a translation mechanism 8 is provided on the hoisting load 3 for connecting to the traction rope of the robotic arm, and a ball-joint clamp 7 is provided at a preset position of the hoisting load 3 for connecting to the rope joint (with a laser reflector plate for use with the laser sensor on the mobile module 4) at one end of the traction rope 6 of the mobile module 4, so that the traction rope 6 of the mobile module 4 is temporarily bound to the hoisting load 3 through the ball-joint clamp 7. Since the upper end of the hoisting load is connected to the rope of the hoisting equipment through the translation mechanism 8, the connection point between the hoisting equipment 1 and the hoisting load 3 can be translated and adjusted within a limited range through the translation mechanism 8.

[0059] Specifically, when approaching and towing a large load, the supply vessel 2's robotic arm lowers the hoisted load 3, and the mobile module 4 pulls the load via a rope. The mobile module 4 can follow the crane's movement or be secured via a suction cup mechanism 43 when approaching the loading area. By collaboratively controlling the length and tension of the towing ropes 6 of multiple mobile modules 4, the load's position can be finely adjusted. During precise loading, the mobile module 4's rope delivery mechanism 45 is height-adjustable, reconfiguring the geometric configuration of the mobile module 4 based on the load's shape and mass (e.g., arranging six mobile modules 4 into three upper and three lower configurations) to meet the cable-driven parallel system's feasible workspace for force rotation and enable loading in various positions, such as horizontal, vertical, and tilted. Among them, the tension and inclination sensor: installed on the sling of the supply ship 2, measures the rope tension and inclination angle in real time; the inertial measurement sensor: fixed to the mobile module 4 and the load fixture of the supply ship 5, used to measure the six-degree-of-freedom position and acceleration; the lidar / visual measurement: can be deployed on the deck of the supply ship 5, and obtain the position of the mobile module 4 relative to the reference point and the load position in real time, and improve accuracy through multi-lidar fusion. The laser rangefinder / pull-wire sensor: installed at the end of the traction rope 6 of the mobile module 4, measures the actual length of the rope after elastic extension, and combines it with the motor encoder data to calculate the rope length; the redundant measurement mechanism: cross-verifies the distance between the mobile modules 4 through lidar and pull-wire sensors, and realizes sensor self-test and calibration through deviation analysis of the forward kinematic model and external visual measurement of the load position.

[0060] Alternatively, as Figure 9 As shown, the guide mechanism 495 includes a first positioning assembly 4951, a second positioning assembly 4952, a positioning plate 4953 and a guide rod 4954, one end of the guide rod 4954 is connected to the sliding block 493, and the other end of the guide rod 4954 passes through the positioning plate 4953 and the second positioning assembly 4952 along the first direction and is connected to the first positioning assembly 4951, the laser rangefinder 494 is arranged at one end of the positioning plate 4953, and one end of the traction passes through the sliding block 493, the positioning plate 4953, the second positioning assembly 4952 and the first positioning assembly 4951 along the first direction and is connected to the hoisted load 3.

[0061] In this optional embodiment, the guide mechanism 495 is composed of a first positioning component 4951, a second positioning component 4952, a positioning plate 4953 and a guide rod 4954, wherein one end of the guide rod 4954 is connected to the sliding block 493, and the other end passes through the positioning plate 4953 and the second positioning component 4952 in sequence along the first direction, and finally connects with the first positioning component 4951, thereby forming a stable guide support structure. In order to ensure the stability of the guide mechanism 495, a plurality of guide rods 4954 can be provided; the laser rangefinder 494 is installed at one end of the positioning plate 4953 so that the direction of the laser it emits is consistent with The lifting mechanism 492 is parallel to the first direction; one end of the traction member passes through the sliding block 493, the positioning plate 4953, the second positioning assembly 4952 and the first positioning assembly 4951 in succession along the first direction, and the end thereof is connected to the hoisting load 3, thereby realizing effective traction and control of the hoisting load 3 through traction. The entire structure forms a coherent force conduction and positioning guide path in the first direction, ensuring the stability and accuracy of the hoisting process. At the same time, the direction of the laser emitted by the laser rangefinder 494 can be made parallel to the traction rope 6 passing through the guide mechanism 495 along the first direction, so that the distance from the traction rope 6 to the connection point of the hoisting load 3 can be accurately measured.

[0062] Alternatively, as Figure 9 As shown, the first positioning assembly 4951 includes a first positioning assembly body 49512 and a symmetrically arranged first positioning member 49511, the first positioning member 49511 includes a first pulley 495111 and a first spring 495112, one end of the first spring 495112 is connected to one end of the first positioning assembly body 49512, and the other end of the first spring 495112 is abutted against the traction rope 6 passing through the first positioning assembly body 49512 through the first pulley 495111, the second positioning assembly 4952 includes a second positioning assembly body 49522 and a symmetrically arranged second positioning member 49521, the second positioning member 49521 includes a second pulley 495211 and a second spring 495212, one end of the second spring 495212 is connected to one end of the second positioning assembly body 49522, and the other end of the second spring 495212 is abutted against the traction rope 6 passing through the second positioning assembly body 49522 through the second pulley 495211.

[0063] In this alternative embodiment, the first positioning assembly 4951 and the second positioning assembly 4952 are similar in structural design and are arranged sequentially along a first direction. Through a rotational offset relationship, the first positioning assembly 4951 and the second positioning assembly 4952 can position the traction rope 6 passing through the guide mechanism 495 in different radial directions, thereby achieving stable positioning of the traction rope 6 through positioning in different directions. Specifically, the first positioning assembly 4951 is composed of a first positioning assembly body 49512 and symmetrically distributed first positioning members 49511. The first positioning members 49511 can be symmetrically arranged on one side of the first positioning assembly body 49512. That is, when the traction rope 6 passes through the first positioning assembly body 49512, the two symmetrically arranged first positioning members 49511 can squeeze and limit the traction rope 6 on both sides to prevent the traction rope 6 from deflecting in the direction. At the same time, similarly symmetrical first positioning members 49511 can be arranged on the other side of the first positioning assembly body 49512 to further ensure the stability of the traction rope 6 in the direction of travel within the guide mechanism 495. The first positioning member 49511 includes a first pulley 495111 and a first spring 495112. One end of the first spring 495112 is connected to one end of the first positioning assembly body 49512, and the other end, via the first pulley 495111, forms an abutment relationship with the traction rope 6 passing through the first positioning assembly body 49512. The pulley ensures that the traction rope 6 can move smoothly along the first direction. When the direction of the traction rope 6 changes, the first spring 495112 elastically deforms, causing the first pulley 495111 to squeeze the traction rope 6, thereby ensuring that the traction rope 6 moves along the first direction and effectively reducing the possibility of deviation during the movement of the traction rope 6. Similarly, the second positioning assembly 4952 also employs a symmetrically designed second positioning member 49521, which includes a second pulley 495211 and a second spring 495212. One end of the second spring 495212 is connected to one end of the second positioning assembly body 49522, and the other end abuts against the traction rope 6 passing through the second positioning assembly body 49522 via the second pulley 495211. The two second positioning members 49521 can be symmetrically arranged on one side of the second positioning assembly body 49522, respectively clamping the traction rope 6 from symmetrical directions to prevent the traction rope 6 from deflecting during movement. Similarly, a symmetrical second positioning member 49521 can also be arranged on the other side of the second positioning assembly 4952 to strengthen the positioning of the traction rope 6 and improve the stability of the traction rope 6 in the guide mechanism 495. This structure enables the second positioning assembly 4952 to cooperate with the first positioning assembly 4951 to position and guide the traction rope 6 at different positions.When the traction rope 6 moves in the first direction, the springs in the first positioning component 4951 and the second positioning component 4952 will automatically adjust the elastic force according to the force conditions of the traction rope 6, ensuring that the traction rope 6 always moves on the path of the predetermined first direction, thereby improving the stability and reliability of the movement of the traction rope 6 in the entire guide mechanism 495, and ensuring the stability and accuracy of the hoisting load 3 during the traction process.

[0064] Although the present invention is disclosed as above, the protection scope of the present invention is not limited thereto. Those skilled in the art may make various changes and modifications without departing from the spirit and scope of the present invention, and these changes and modifications will fall within the protection scope of the present invention.

Claims

1. A ship transfer system, characterized in that: include: A lifting device (1) is provided on a supply vessel (2) for lifting a lifting load (3); A mobile module (4) is used to be arranged on the supplied ship (5) and connected to the hoisted load (3); The control module is used for communicating with the hoisting device (1) and the mobile module (4) respectively, and controlling the mobile module (4) to cooperate with the hoisting device (1) to adjust the posture of the hoisted load (3).

2. The ship transfer system according to claim 1, characterized in that: It also includes a laser radar arranged on the supplied ship (5), and the control unit is further used for: Obtaining a first relative coordinate of the origin of the local coordinate system of the laser radar in a preset reference coordinate system, and a second relative coordinate of the mobile module (4) in the local coordinate system; According to the first relative coordinate and the second relative coordinate, a mobile module coordinate vector of the mobile module (4) in the reference coordinate system is obtained through a preset reference coordinate relationship.

3. The ship transfer system according to claim 2, characterized in that: The reference coordinate relationship satisfies: ； in, is the coordinate vector of the i-th mobile module relative to the reference coordinate system {O}, K i is the coordinate of the ith mobile module relative to the reference coordinate system {O}, X1 is the first relative coordinate, X2 is the second relative coordinate, and θ is the preset rotation angle.

4. The ship transfer system according to claim 2, characterized in that: The mobile module (4) is connected to the hoisted load (3) via a traction rope (6); and the control of the mobile module (4) to cooperate with the hoisting equipment (1) to adjust the posture of the hoisted load (3) includes: Obtaining a desired position and posture of the hoisted load (3); Based on the coordinate vector of the mobile module and the desired posture, the desired rope length of the mobile module (4) at the preset position is obtained by the kinematic inverse solution principle, and the desired tension of the mobile block at the preset position is obtained by the dynamic balance principle; The mobile module (4) is controlled to adjust the hoisted load (3) to the desired posture according to the desired rope length and the desired tension.

5. The ship transfer system according to claim 4, characterized in that: The controlling of the moving module (4) to adjust the hoisted load (3) to the desired posture according to the desired rope length and the desired tension comprises: Obtaining the current rope length and current tension of the traction rope (6) of the mobile module (4); Obtaining a rope length adjustment value according to a difference between the current rope length and the desired rope length; The moving module (4) is controlled by the rope length adjustment value to adjust the rope length of the traction rope (6) Obtaining a tension adjustment value according to a difference between the current tension and the desired tension; The moving module (4) is controlled by the tension adjustment value to adjust the tension of the traction rope (6).

6. The ship transfer system according to claim 4, characterized in that: The mobile module (4) comprises a base (41), a lifting mechanism (44), a rope-discharging mechanism (45), a fixed pulley mechanism (46), a lifting pulley mechanism (47), a rotating pulley mechanism (48), a laser ranging mechanism (49), a universal wheel (42) and a suction cup mechanism (43); the universal wheel (42) and the suction cup mechanism (43) are respectively provided on the lower surface of the base (41); the lifting mechanism (44) is provided on the upper surface of the base (41); the rope-discharging mechanism (45) is provided on the upper surface of the lifting mechanism (44); the fixed pulley mechanism (46) is provided on the upper surface of the lifting mechanism (44); the universal wheel (42) and the suction cup mechanism (43) are respectively provided on the lower surface of the base (41); the lifting mechanism (44) is provided on the upper surface of the lifting mechanism (44); the fixed pulley mechanism (46) is provided on the upper surface of the lifting mechanism (44); the universal wheel (42) and the suction cup mechanism (43) are respectively provided on the lower surface of the base (41); the lifting mechanism (44) is provided on the upper surface of the lifting mechanism (44); the rope-discharging mechanism (45) is provided on the upper surface of the lifting mechanism (44); the fixed pulley mechanism (46 ... ), the lifting pulley mechanism (47) and the rotating pulley mechanism (48) are sequentially arranged on the upper surface of the lifting structure in a direction away from the rope-discharging mechanism (45), the laser distance-measuring mechanism (49) is arranged on a side of the rotating pulley mechanism (48) away from the rope-discharging mechanism (45), and one end of the traction rope (6) of the rope-discharging mechanism (45) passes through the fixed pulley mechanism (46), the lifting pulley mechanism (47), the rotating pulley mechanism (48) and the laser distance-measuring mechanism (49) respectively and is connected to the hoisted load (3).

7. The ship transfer system according to claim 6, characterized in that: The laser distance measuring mechanism (49) comprises a laser distance measuring guide rail (491), a guide rail bracket (492), a sliding block (493), a laser distance meter (494) and a guide mechanism (495). The laser distance measuring guide rail (491) is connected to the rotating pulley mechanism (48) via the guide rail bracket (492). One end of the guide mechanism (495) is slidably connected to the laser distance measuring guide rail (491) via the sliding block (493). The laser distance meter (494) is arranged above the guide mechanism (495). One end of the traction rope (6) passes through the guide mechanism (495) along a first direction and is connected to the hoisting load (3). The first direction is the axial direction of the guide mechanism (495).

8. The ship transfer system according to claim 7, characterized in that: The guide mechanism (495) includes a first positioning assembly (4951), a second positioning assembly (4952), a positioning plate (4953) and a guide rod (4954). One end of the guide rod (4954) is connected to the sliding block (493). The other end of the guide rod (4954) passes through the positioning plate (4953) and the second positioning assembly (4952) along the first direction and is then connected to the first positioning assembly (4951). The laser rangefinder (494) is arranged at one end of the positioning plate (4953). One end of the traction device passes through the sliding block (493), the positioning plate (4953), the second positioning assembly (4952) and the first positioning assembly (4951) along the first direction and is then connected to the hoisted load (3).

9. The ship transfer system according to claim 8, characterized in that: The first positioning assembly (4951) includes a first positioning assembly body (49512) and a symmetrically arranged first positioning member (49511), the first positioning member (49511) includes a first pulley (495111) and a first spring (495112), one end of the first spring (495112) is connected to one end of the first positioning assembly body (49512), and the other end of the first spring (495112) is in contact with the traction rope (6) passing through the first positioning assembly body (49512) through the first pulley (495111). The second positioning component (4952) includes a second positioning component body (49522) and a symmetrically arranged second positioning member (49521), the second positioning member (49521) includes a second pulley (495211) and a second spring (495212), one end of the second spring (495212) is connected to one end of the second positioning component body (49522), and the other end of the second spring (495212) is in contact with the traction rope (6) passing through the second positioning component body (49522) through the second pulley (495211).

10. The ship transfer system according to claim 1, characterized in that: The hoisting equipment (1) includes a mechanical arm, which is arranged on the supply ship (2). A translation mechanism (8) is arranged on the hoisted load (3), and the lead-out end of the traction rope (6) of the mechanical arm is connected to the translation mechanism (8) of the hoisted load (3).

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