Water vehicle three-dimensional parking equipment and motorboat parking and taking control method

Abstract

The water vehicle three-dimensional parking equipment is characterized in that the water vehicle three-dimensional parking equipment comprises a lifting mechanism, a plurality of annular storage layers are arranged on the outer ring of the lifting mechanism in the longitudinal direction, and each annular storage layer comprises a plurality of yacht berth areas and motorboat berth areas; the yacht berth areas and the motorboat berth areas are arranged at intervals, and the lifting mechanism is connected with the yacht berth area and the motorboat berth area of each annular storage layer. A three-dimensional multi-layer annular storage layer structure is adopted, and the yacht berth areas and the motorboat berth areas which are arranged at intervals are arranged on each annular storage layer, so that motorboats and yachts can be parked at the same time, the space of a port and a wharf is saved, and the service life of the motorboats and the yachts is prolonged. And the yacht is parked in the parking equipment, so that the yacht can be prevented from being attached by marine organisms to corrode the yacht body and being attacked by sea waves and storms, the property of a user is protected, and the maintenance cost is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of ships, and in particular to three-dimensional mooring equipment for water vehicles and a motorboat parking and retrieval control method. Background Art

[0002] Yachts, as a common means of transport at sea, are typically moored in harbors and secured with ropes. When multiple yachts need to be parked, they are often parked side by side along the harbor. This parking method occupies a large area of the harbor and requires specialized personnel to secure the yachts. If the yachts are not moored securely, they will rub against the ropes or other yachts as the water moves, damaging the surface of the yachts, not only affecting their appearance but also causing financial losses. Furthermore, prolonged periods of time spent on the water can exacerbate corrosion caused by marine organisms clinging to the bottom of the boats, and coastal storms can also cause damage to the boats.

[0003] As a kind of marine transportation, motorboats are usually moored at the dock and need to be fixed by some fixing equipment. Motorboats are also parked side by side on flat ground.

[0004] In the prior art, both the parking methods of yachts and motorboats require a large amount of space, and the fixing methods have certain defects, which can easily cause damage to the yacht body. Summary of the Invention

[0005] The object of the present invention is to provide a three-dimensional mooring device for water vehicles that fully utilizes space and a motorboat parking and retrieval control method that can reduce parking energy consumption and improve parking and retrieval efficiency.

[0006] The objectives of the present invention are achieved through the following technical solution: a three-dimensional mooring system for water vehicles, comprising a lifting mechanism, wherein the outer ring of the lifting mechanism is longitudinally arranged with multiple annular storage layers, each of which includes multiple yacht berths and motorboat berths, the yacht berths and motorboat berths being spaced apart from each other, and the lifting mechanism is connected to the yacht berths and motorboat berths of each annular storage layer. This arrangement allows motorboats and yachts to be parked simultaneously using the storage space on the same layer, saving space and achieving integration.

[0007] In order to further realize the three-dimensional storage of yachts and motorboats, the three-dimensional mooring equipment also includes a drive-in mooring layer arranged at the lower part of the annular storage layer, and the drive-in mooring layer includes a yacht lifting shaft arranged in the middle of the lifting mechanism and a motorboat lifting shaft arranged on the outer circle of the lifting mechanism. A yacht lifting platform is arranged in the yacht lifting shaft, and the yacht lifting platform is connected to the lifting mechanism. There are multiple motorboat lifting shafts and they are arranged opposite to the motorboat berth area up and down. A motorboat lifting bracket is arranged in the motorboat lifting shaft, and the motorboat lifting bracket is connected to the lifting mechanism.

[0008] In order to further achieve cleaning and save space, a cleaning layer is set between the driving-in berthing layer and the annular storage layer. The cleaning layer includes multiple cleaning platforms arranged in a circular array. The middle of the cleaning platform is the yacht elevator shaft, and the motorboat elevator shaft is between two adjacent cleaning platforms.

[0009] In order to further realize the parking and entry of motorboats and yachts, the entry berthing layer is also provided with a yacht entry channel and a motorboat entry channel. The yacht entry channel is a straight channel A and is connected to the yacht elevator shaft. The motorboat entry channel includes straight channels B arranged on both sides of the yacht entry channel and an annular channel connecting the two straight channels B. The annular channel is arranged around the entry berthing layer and is connected to each motorboat elevator shaft.

[0010] To further achieve three-dimensional parking, the lifting mechanism includes a yacht lifting column arranged at the center of the yacht lifting shaft, the yacht lifting platform is installed on the top of the yacht lifting column, and the yacht lifting column is driven to move up and down and rotate by a driving mechanism, or the lifting mechanism includes a winch installed above the yacht lifting platform, the winch is connected to the yacht lifting platform through a steel cable, so as to lift the yacht lifting platform and cause the yacht lifting platform to rotate along its longitudinal axis;

[0011] The lifting mechanism further includes a motorboat lifting column arranged in the motorboat lifting shaft, and the motorboat lifting bracket is slidably arranged on the motorboat lifting column.

[0012] In order to further realize the utilization of space, the yacht berth area of the annular storage layer includes a yacht berth platform, which is rectangular and arranged radially, and is provided with a yacht parking bracket; the fan-shaped area between two adjacent yacht berth platforms is the motorboat berth area, the motorboat lifting column is located at the inner corner of the motorboat berth area, and the outer circle of the motorboat berth area is provided with a motorboat parking bracket.

[0013] Preferably, the yacht lifting platform is provided with a radial slide, a yacht transport trolley is slidably provided on the radial slide, the yacht parking bracket on the yacht berth platform is radially arranged toward the center of the yacht lifting platform, and the yacht transport trolley slides and connects with the yacht parking bracket.

[0014] In order to further realize the parking of the yacht, the yacht transport trolley includes a transport base plate, the bottom surface of the transport base plate is provided with a pulley, the pulley slides in a radial slide, the top surface of the transport base plate is provided with two parallel yacht transport cross bars, and a vertically arranged yacht stopper is also provided on one side of the transport base plate; the yacht parking bracket includes two parallel yacht parking cross bars, and the distance between the two yacht parking cross bars is greater than the width of the transport base plate.

[0015] In order to further realize the utilization of space, the outer circle of the motorboat berth area is provided with a plurality of motorboat parking brackets, and the motorboat parking brackets are radially arranged toward the axis of the motorboat lifting rod. A lifting slider is provided on the motorboat lifting column for sliding transversely and the motorboat lifting column drives the lifting slider to rotate when it rotates along its longitudinal axis. The motorboat lifting bracket is installed on the lifting slider, and the motorboat parking bracket is connected to the motorboat lifting bracket.

[0016] In order to further realize the parking of the motorboat, the motorboat lifting bracket includes two parallel motorboat transporting cross bars connected to the lifting slider, and the motorboat parking bracket includes two parallel motorboat parking cross bars. The spacing between the two motorboat transporting cross bars is greater than the maximum distance between the two motorboat parking cross bars. A motorboat transfer sleeve is provided on the motorboat transporting cross bar, and the motorboat transfer sleeve moves back and forth along the axis of the motorboat transporting cross bar and connects with the motorboat parking cross bar.

[0017] The present invention also provides a method for controlling the parking and unparking of a motorboat in the above-mentioned three-dimensional mooring equipment for water vehicles, comprising:

[0018] Step S100: receiving the number of motorboats to be parked at the motorboat entrance and the positions of the motorboats to be parked in the annular channel identified in real time, and monitoring the reception of the motorboat extraction message in real time;

[0019] Step S200: Allocate a motorboat elevator shaft to each motorboat to be docked according to the number of motorboats to be docked, the floor numbers of the vacant motorboat berths in the three-dimensional mooring equipment, and the positions of the corresponding motorboat elevator shafts;

[0020] Step S300: After receiving a new motorboat extraction message, determine the position of the motorboat elevator shaft when extracting each motorboat to be picked up based on all the motorboat extraction messages currently received; adjust the passage order of each motorboat to be parked and each motorboat to be picked up based on the motorboat elevator shaft position of each motorboat to be parked, the motorboat elevator shaft position of each motorboat to be picked up, and the position of each motorboat to be parked in the annular channel, so as to achieve rapid parking and picking up of motorboats with lower energy consumption.

[0021] Optionally, step S200 specifically includes:

[0022] For each motorboat elevator shaft in the three-dimensional berthing equipment, determine the layer number of the fan-shaped area corresponding to each layer of the motorboat elevator shaft where there is an empty motorboat berth, and use the minimum layer number of each determined fan-shaped area as the minimum layer number of the motorboat elevator shaft. Sort the minimum layer numbers of each motorboat elevator shaft from small to large, and use the motorboat elevator shafts corresponding to the first N minimum layer numbers after sorting as target parking shafts. According to the positions of the N target parking shafts in the annular channel and the order of the N motorboats to be parked, allocate the N target parking shafts to the corresponding motorboats to be parked, where N is the number of motorboats to be parked and is an integer greater than 0.

[0023] Optionally, step S300 specifically includes:

[0024] After receiving a new motorboat extraction message, determine the parking position of each motorboat in all currently received motorboat extraction messages, and use the motorboat elevator shaft corresponding to each parking position as the target extraction shaft. For each motorboat to be parked in the annular channel, perform the following steps:

[0025] Step S310: The motorboat to be parked and its target parking well are respectively regarded as the first motorboat to be parked and the first target parking well, and whether there is a target extraction well between the location of the first motorboat to be parked and its first target parking well is determined. If so, first moments P1 to Pm are determined for each of the existing 1st to mth target extraction wells from the front to the back, when the motorboat to be parked is immediately extracted and leaves the corresponding target extraction well, where m is the number of existing target extraction wells and is an integer greater than 0. Second moments Q1 to Qm are determined for each of the existing 1st to mth target extraction wells from the front to the back; otherwise, no processing is performed.

[0026] Step S320, for the i-th target extraction well located between the position of the first motorboat to be parked and its first target parking well and from front to back, i is an integer greater than 0 and less than or equal to m, and its initial value is 1, judge whether the first moment Pi corresponding to the i-th target extraction well is earlier than or equal to the second moment Qi when the first motorboat to be parked enters the i-th target extraction well, if so, it means that extracting the i-th motorboat to be parked from the i-th target extraction well will not affect the normal passage of the first motorboat to be parked behind it, at this time directly control the lifting slider in the i-th target extraction well to extract the i-th motorboat to be parked, i++, return to execute step S320, otherwise, it means that extracting the i-th motorboat to be parked from the i-th target extraction well will affect the normal passage of the first motorboat to be parked behind it, execute step S330 to select whether to let the first motorboat to be parked pass first or let the i-th motorboat to be parked pass first;

[0027] Step S330: If the first waiting motorboat is allowed to pass first, first calculate the time Ti1 for the i-th waiting motorboat in the i-th target extraction well to be extracted and leave the i-th target extraction well, and then calculate the waiting time Hi1 = Qi - current time + Ti1 for extracting the i-th waiting motorboat;

[0028] If it is chosen to let the i-th waiting motorboat pass first, the waiting time Ti2=Pi-Qi that the first waiting motorboat needs to wait is first calculated, and then it is determined whether there are other waiting motorboats between the first waiting motorboat and the nearest target extraction well behind it. If so, the other waiting motorboats are regarded as intermediate waiting motorboats, and the third moments R31~R3k when the 1st to k-th intermediate waiting motorboats enter the i-th target extraction well are determined respectively, where k represents the number of intermediate waiting motorboats and is an integer greater than 0. The first moment Pi is subtracted from each third moment R31~R3k respectively, and the values with positive subtraction results and the time Ti2 are added to obtain the total waiting time Hi2 of each waiting motorboat between the i-th target extraction well and the adjacent target extraction well behind it, and step S340 is executed;

[0029] If not, the time length Ti2 is used as the total waiting time Hi2 of each motorboat between the i-th target extraction well and the adjacent target extraction well, and step S340 is executed;

[0030] Step S340: Determine whether Hi1 is greater than or equal to Hi2. If so, allow the i-th motorboat to be picked up to pass before the first motorboat to be parked. Otherwise, allow the first motorboat to be parked to pass before the i-th motorboat to be picked up, and execute step S350.

[0031] Step S350: For the jth intermediate waiting motorboat from the front to the back, where j is an integer less than or equal to k and has an initial value of 1, if the jth intermediate waiting motorboat is allowed to pass before the i-th waiting motorboat, first calculate the waiting time Ij1 = R3j - current time + Ti1 required to extract the i-th waiting motorboat, where R3j is the third time when the jth intermediate waiting motorboat enters the i-th target extraction well;

[0032] If the i-th motorboat to be picked up is allowed to pass before the j-th intermediate motorboat waiting to be picked up, then the first moment Pi is subtracted from each of the third moments R3j-R3k, and the values with positive subtraction results are added together to obtain the total waiting time Ij2 between the i-th target extraction well and the adjacent target extraction well behind, and then step S360 is executed;

[0033] Step S360, determine whether Ij1 is greater than or equal to Ij2. If so, let the i-th motorboat to be picked up pass before the j-th intermediate motorboat to be parked, j++, and return to step S350. Otherwise, let the j-th intermediate motorboat to be parked pass before the i-th motorboat to be picked up, j++, and return to step S350.

[0034] Beneficial effects:

[0035] 1. The three-dimensional mooring equipment of the present invention adopts a three-dimensional multi-layer annular storage layer structure, and each annular storage layer is provided with yacht berth areas and motorboat berth areas arranged at intervals, so that the fan-shaped areas between adjacent yacht berth areas are fully utilized to park motorboats. Moreover, through the arrangement of the fan-shaped areas, multiple motorboats can be parked in the same motorboat berth area, thus realizing full utilization of space.

[0036] 2. The present invention integrates motorboat parking, yacht parking, yacht cleaning, three-dimensional lifting and other structures into the same three-dimensional space, achieving a high degree of integration and being able to realize multiple functions such as cleaning and storage.

[0037] 3. In the three-dimensional mooring equipment of the present invention, the yacht mooring operation is to drive from the center (yacht lifting platform) to the outer circle yacht berth area for parking, and the motorboat mooring operation is to drive from the outer circle (annular channel) to the inner circle motorboat berth area for parking. Therefore, the parking of yachts and motorboats is independent of each other in space and route, and they do not interfere with each other. They can park in and out at the same time, and the traffic efficiency is extremely high.

[0038] 4. The three-dimensional mooring system of the present invention secures yachts and motorboats by means of yacht parking brackets and motorboat parking brackets. Adjacent motorboats are spaced apart from each other, preventing interference. This not only ensures stable parking but also prevents friction between the surfaces of yachts or motorboats, which could cause unsightly or economic losses.

[0039] 5. When controlling motorboat parking, the present invention allocates motorboat elevators to each motorboat based on the number of motorboats to be parked and the floor number with available motorboat berths. This allows motorboats to be parked preferentially in lower annular storage floors, thereby reducing energy consumption. The present invention also adjusts the passage order of motorboats to be parked and those to be retrieved based on the positions of the motorboats to be parked and their assigned elevators, as well as the positions of the corresponding motorboat elevators of the motorboats to be retrieved, thereby enabling rapid parking and retrieval of motorboats.

[0040] 6. The present invention preferentially allocates the motorboat elevator shaft at the bottom of the vacant motorboat berth to the incoming motorboats to be parked, so that the motorboats can be parked in an orderly manner from bottom to top, thereby reducing the parking energy consumption of the three-dimensional mooring equipment;

[0041] 7. When the motorboat to be parked passes through the target extraction well and is congested with the extraction of the motorboat to be picked up in the target extraction well, the present invention does not directly avoid the extraction according to the time when the two enter or leave the target extraction well, but takes into account the waiting time for the extraction of the motorboat to be picked up, and the total waiting time of the motorboat to be parked and the motorboats to be parked behind it under different working conditions. When the waiting time for the extraction of the motorboat to be picked up is greater than or equal to the total waiting time of the corresponding motorboat to be parked and the motorboats to be parked behind it, the motorboat to be picked up is selected to pass before the motorboat to be parked; otherwise, the motorboat to be parked is selected to pass before the motorboat to be picked up. The present invention takes into account the position of multiple motorboats to be parked in the corresponding section of the annular channel, and solves the congestion problem when the motorboat extraction path and the motorboat passage path in the annular channel are combined. This can improve the parking speed of the motorboat while ensuring the smooth parking of the motorboat and ensure a good user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 This is a front view of the three-dimensional parking device in Example 1;

[0043] Figure 2 for Figure 1 sectional perspective view of

[0044] Figure 3 is a cross-sectional view of the annular storage layer of the three-dimensional parking device in Example 1;

[0045] Figure 4 is a cross-sectional view of the annular cleaning layer of the stereoscopic parking device in Example 1;

[0046] Figure 5 A perspective view of the yacht lifting platform of the three-dimensional mooring equipment in Example 1;

[0047] Figure 6 A three-dimensional diagram of a yacht berth area of the three-dimensional mooring equipment in Example 1;

[0048] Figure 7 A three-dimensional diagram of a motorboat berth area of the three-dimensional mooring equipment in Example 1;

[0049] Figure 8 A three-dimensional diagram of a motorboat lifting bracket of the three-dimensional mooring device in Example 1;

[0050] Figure 9 A bottom view of the entry parking layer of the three-dimensional parking equipment in Example 1;

[0051] Figure 10 This is a schematic diagram of the control for stopping a motorboat. DETAILED DESCRIPTION

[0052] The specific embodiments of the present invention are further described in detail below with reference to the accompanying drawings, but the present invention is not limited to these embodiments. Any improvement or substitution based on the basic spirit of the present embodiment still falls within the scope of protection required by the claims of the present invention.

[0053] Example 1: Figure 1-9 As shown, this embodiment provides a three-dimensional mooring system for water vehicles. This three-dimensional mooring system comprises a three-dimensional annular frame structure. Specifically, a lifting mechanism 100 is disposed in the middle of the three-dimensional annular frame structure. The outer ring of the lifting mechanism comprises a longitudinal multi-layer structure 200. From bottom to top, it comprises a bottom entry mooring layer 201, an annular cleaning layer 202, and an annular storage layer 203 above the annular cleaning layer. The annular storage layer 203 is longitudinally arranged in multiple layers. As another embodiment of this embodiment, a sightseeing layer 100 is also disposed above the annular storage layer.

[0054] The three-dimensional mooring system in this embodiment is primarily used for parking yachts and motorboats. Therefore, each annular storage layer includes multiple yacht berths 206 and motorboat berths 207, which are spaced apart from each other. The lifting mechanism interfaces with the yacht and motorboat berths of each annular storage layer. In this embodiment, the yacht berths include rectangular yacht berth platforms 206, which are radially arranged toward the center of the three-dimensional annular frame structure. The inner sides of adjacent yacht berth platforms 206 are close together, while the outer sides are spaced apart. This creates a fan-shaped area between the two adjacent yacht berth platforms 206, which serves as the motorboat berth area 207 in this embodiment. This arrangement ensures sufficient parking for yachts while allowing the fan-shaped areas in the "corners" to be used for motorboat parking, effectively utilizing the space. The motorboat berth area 207 in this embodiment is a frame structure, and the parking area of the motorboat berth area 207 is the outer ring of the fan-shaped area. In this way, multiple motorboat berths can be arranged in the outer ring of the fan-shaped area, so that multiple motorboats can be parked in the same motorboat berth area. As an implementation method in this embodiment, three motorboat berths 207a are provided in the same motorboat berth area.

[0055] The cleaning layer in this embodiment is arranged around the lifting mechanism and located below the lowest annular storage layer, and can also be referred to as the annular cleaning layer. The lower portion of the cleaning layer is the drive-in berthing layer, which can include a yacht elevator shaft 101 located in the center of the lifting mechanism 100 and a motorboat elevator shaft 102 located on the outer ring of the lifting mechanism. The yacht elevator shaft is provided with a yacht lifting platform 103 connected to the lifting mechanism. There are multiple motorboat elevator shafts, which are arranged above and below the motorboat berth area. The motorboat elevator bracket 104 is provided within the motorboat elevator shaft 102, which is connected to the lifting mechanism. The cleaning layer includes multiple cleaning platforms 202a arranged in a circular array. The yacht elevator shaft is located in the center of the cleaning platform, and the motorboat elevator shaft is located between adjacent cleaning platforms 202a.

[0056] The lifting mechanism includes a yacht lifting column arranged at the center of the yacht lifting shaft, the yacht lifting platform is installed on the top of the yacht lifting column, and the yacht lifting column is driven to move up and down and rotate by a driving mechanism, or the lifting mechanism includes a winch installed above the yacht lifting platform, and the winch is connected to the yacht lifting platform through a steel cable to lift the yacht lifting platform and cause the yacht lifting platform to rotate along the longitudinal axis; the lifting mechanism also includes a motorboat lifting column arranged in the motorboat lifting shaft, the motorboat lifting column is located at the inner corner of the motorboat berth area (fan-shaped area), and the motorboat lifting bracket is slidably arranged on the motorboat lifting column through a lifting slider 210, and the motorboat lifting column drives the lifting slider to rotate when it rotates along its longitudinal axis. In this embodiment, the yacht lifting column can be rotated by a motor drive, and can be lifted and lowered by a driving mechanism such as a cylinder, an electric steel, a motor and a screw nut. The lifting slider can be lifted and lowered on the motorboat lifting column by a driving mechanism such as a cylinder, an electric steel, a motor and a screw nut. The motorboat lifting column can be rotated by a motor drive. This is a prior art and will not be described in detail in this embodiment.

[0057] Furthermore, as one implementation method in this embodiment, the yacht lifting platform is circular and is provided with a radial slide 105, on which a yacht transport trolley slides. The yacht transport trolley includes a transport base plate 106, the bottom surface of which is provided with a pulley 107 that slides on the radial slide. The top surface of the transport base plate is provided with two parallel yacht transport cross bars 108. A vertical yacht stopper 109 is also provided on one side of the transport base plate 106. The connection between the yacht stopper and the transport top plate is rounded, and the yacht stopper 109 can be provided with a drive device for the yacht transport trolley. The yacht berth platform 206 is provided with a yacht parking bracket, which is radially arranged toward the center of the yacht lifting platform. The yacht parking bracket includes two parallel yacht parking cross bars 206a, and the distance between the two yacht parking cross bars 206a is greater than the width of the transport base plate 106. The yacht transporting trolley slides along the radial slideway and connects with the yacht parking bracket, and the yacht is moved from the yacht transporting trolley to the yacht parking bracket.

[0058] The outer ring of the motorboat berth area is provided with a motorboat parking bracket 208, which is radially arranged toward the axis of the motorboat lifting rod. The motorboat lifting bracket is mounted on the lifting slider on the motorboat lifting column. The motorboat lifting bracket includes two parallel motorboat transporting cross bars 211 connected to the lifting slider 210. The motorboat parking bracket includes two parallel motorboat parking cross bars 209, the spacing between the two motorboat transporting cross bars being greater than the maximum distance between the two motorboat parking cross bars. A motorboat transfer sleeve 212 is sleeved on the motorboat transporting cross bars. The motorboat transfer sleeve moves back and forth along the axis of the motorboat transporting cross bars and connects with the motorboat parking cross bars, thereby achieving the goal of moving the motorboat from the motorboat lifting bracket to the motorcycle parking bracket.

[0059] In addition, the entry and berthing level is equipped with a yacht entry channel and a motorboat entry channel 213. The yacht entry channel is a linear channel A 214 that connects to the yacht elevator shaft. The linear channel A passes through the area between two cleaning platforms. The motorboat entry channel includes linear channels B 215 arranged on either side of the yacht entry channel and an annular channel 216 connecting the two linear channels B. The annular channel is arranged around the entry and berthing level and connects to each motorboat elevator shaft. As another embodiment of this embodiment, an annular baffle 217 with an opening is further provided on the outer ring of the annular channel. The opening of the annular baffle is provided with the linear channels A and B extending outward. This arrangement can provide a stable entry route for motorboats and yachts.

[0060] The three-dimensional mooring equipment for water vehicles and the motorboat parking and retrieval control method of this embodiment can be set up at a port. A motorboat driver can drive the motorboat from the straight channel B into the annular channel, select a motorboat elevator shaft to enter, and moor the motorboat on the motorboat lifting bracket. After that, the driver gets off the motorboat. The motorboat lifting bracket is driven by the lifting slider to rise along the motorboat lifting column and select an empty motorboat parking bracket to park it in. When parking, the motorboat transfer sleeve on the motorboat transport crossbar drives the motorboat to move axially outward. The motorboat transfer sleeve moves to both sides of the motorboat parking crossbar and causes the motorboat rack to park on the motorboat parking crossbar. Then, the motorboat transfer slide is driven to retract axially back onto the motorboat transport crossbar. Finally, the motorboat lifting bracket is driven to move down along the motorboat lifting column to continue parking the next motorboat. The yacht driver drives the yacht from the straight channel A to the yacht lifting platform and moored the yacht on the yacht transport trolley. If the yacht needs to be cleaned, it can be sent to the cleaning platform for cleaning, polishing, drying, etc. If cleaning is not required or after cleaning is completed, the yacht is parked on the yacht transport trolley, the yacht lifting platform is driven to rise, an empty yacht berth platform is selected, the yacht lifting platform is rotated so that the radial slide is aligned with the yacht parking bracket on the yacht lifting platform, and the yacht transport trolley is driven along the radial slide to enter between the two yacht parking cross bars and complete the parking of the yacht on the yacht parking bracket. The yacht transport trolley is then driven back along the radial slide to the yacht lifting platform, and the yacht is parked. When parking, the yacht lifting platform can be raised to a position where the yacht transporting crossbar of the yacht transporting trolley is slightly higher than the yacht parking crossbar of the target yacht parking bracket, so that the yacht transporting trolley can easily enter between the two yacht parking crossbars. Then, the yacht lifting platform is driven to move slightly downward so that the yacht transporting crossbar is lower than the yacht parking crossbar, so that the yacht can be easily parked on the yacht parking crossbar and the yacht transporting trolley can be easily returned to the yacht lifting platform. To take the yacht and motorboat, the above operation can be reversed.

[0061] The three-dimensional mooring equipment of this embodiment adopts a three-dimensional multi-layer annular storage layer structure, and each annular storage layer is provided with yacht storage areas and motorboat storage areas arranged at intervals, so that the fan-shaped areas between adjacent yacht storage areas are fully utilized to park motorboats, and multiple motorboats can be parked in the same motorboat storage area by setting the fan-shaped areas, thus achieving full utilization of space. Moreover, the three-dimensional mooring equipment of the present invention has achieved a high degree of integration, and can realize multiple functions such as cleaning and storage. In the three-dimensional mooring equipment of this embodiment, the yacht mooring operation is to drive from the center to the outer circle of the yacht storage area for parking, and the motorboat mooring operation is to drive from the outer circle (annular channel) to the inner circle of the motorboat storage area for parking. Therefore, the parking of yachts and motorboats is independent of each other in space and route, and they do not interfere with each other, and can achieve simultaneous parking and exit, with extremely high traffic efficiency.

[0062] In one example, the three-dimensional annular frame structure may include multiple layers of annular frame planes arranged longitudinally. For each layer of annular frame planes, the layer of annular frame planes may be composed of three coaxial annular brackets from the inside to the outside, wherein the lifting mechanism is located in the innermost annular bracket and coaxial with the annular bracket. The inner and outer ends of the yacht berth area on the layer of annular frame planes are fixed on the innermost annular bracket and the outermost annular bracket in sequence, and the inner and outer ends of the motorboat berth area are fixed on the middle annular bracket and the outermost annular bracket in sequence. The positions of the yacht berth areas on each layer of annular frame planes correspond to each other up and down, the positions of the motorboat berth areas also correspond to each other up and down, and the positions of the fan-shaped areas between adjacent yacht berth areas also correspond to each other up and down. For the yacht berth area group with corresponding upper and lower positions, a plurality of longitudinal brackets may be provided between the yacht berth area group and another adjacent yacht berth area group. The longitudinal brackets can be used to longitudinally penetrate and connect the outermost annular brackets on each layer of annular frame planes, the middle annular brackets on each layer of annular frame planes, and the innermost annular brackets on each layer of annular frame planes. The present invention designs a frame structure composed of multiple layers of annular frame planes and multiple longitudinal supports. Each annular frame plane is composed of three coaxial annular supports extending from the inside out. The longitudinal supports extend longitudinally through the corresponding annular supports, ensuring the stability of the entire frame structure. A motorboat lifting column can be installed at the inner corner of each sector-shaped area, extending through each layer of the annular frame plane. Each motorboat lifting column can be equipped with multiple lifting sliders. For each sector-shaped area group corresponding to the upper and lower positions, a motorboat lifting shaft is located directly below the sector-shaped area group. Flanked by personnel access platforms located within the annular cleaning layer, the lifting sliders drive the motorboat lifting bracket and the motorboat aboard it to rise and fall. During the lifting process, the motorboat and the motorboat lifting bracket remain within the intermediate annular supports of each layer, ensuring normal lifting. Furthermore, in the three-dimensional mooring system of the present invention, the height of each annular storage layer 203 can be gradually reduced from bottom to top, making it easier to dock and retrieve yachts of varying heights while conserving longitudinal space.

[0063] For traditional vehicle three-dimensional parking equipment, customers can drive away directly from multiple exits after obtaining their vehicles from the vehicle parking equipment. However, the parking equipment of the present invention is used in water, and the ups and downs of the water surface will affect the parking and retrieval of yachts and motorboats. Therefore, the present invention provides a circle of annular baffles 217 on the outside of the circular driving-in mooring layer to isolate the impact of the external water surface ups and downs on the parking and retrieval of motorboats, and provides a yacht entrance and exit and a motorboat entrance and motorboat exit on both sides of the yacht entrance and exit. Since it is necessary to pass through the annular channel between the driving-in mooring layer and the annular baffle when parking and retrieval of motorboats, this will cause congestion in parking and retrieval of motorboats, thereby reducing user experience. To this end, the present invention also designs a method for controlling the parking and retrieval of motorboats in the above-mentioned three-dimensional mooring system. Prior to this, the present invention provides a position recognition device on the annular channel for identifying the position of each motorboat within the annular channel, and a camera recognition device at the motorboat entrance for capturing images of the motorboats at the entrance and identifying the number of motorboats at the entrance. The annular channel is also provided with an indicator device for guiding the driver to park the motorboat. During the parking and retrieval process, the motorboats travel in the same clockwise or counterclockwise direction within the annular channel. A controller is respectively connected to the position recognition device, the camera recognition device, the lifting sliders, and the indicator devices.

[0064] The motorboat parking and retrieval control method in the above-mentioned three-dimensional mooring equipment can be applied to the controller, including the following steps:

[0065] Step S100, receiving the real-time identified number of motorboats to be parked at the motorboat entrance and the position of each motorboat to be parked in the annular channel, and monitoring the reception of motorboat extraction messages in real time; wherein the number of motorboats to be parked at the motorboat entrance can be identified by a camera recognition device, and image acquisition and recognition technology is a common technology and will not be repeated here. The camera recognition device transmits the identified number to the controller; and the position recognition device can identify the position of each motorboat to be parked in the annular channel, for example, multiple infrared sensor devices are set in the annular channel, or multiple cameras are set, etc., and the position recognition device sends the identified position of the motorboat to be parked to the controller.

[0066] Step S200: Allocate a motorboat elevator shaft to each motorboat to be docked according to the number of motorboats to be docked, the floor numbers of the vacant motorboat berths in the three-dimensional mooring equipment, and the positions of the corresponding motorboat elevator shafts;

[0067] Step S300: After receiving a new motorboat retrieval message, the position of the motorboat elevator shaft when retrieving each motorboat to be retrieved is determined based on all currently received motorboat retrieval messages. Based on the motorboat elevator shaft positions of each motorboat to be parked, the motorboat elevator shaft positions of each motorboat to be retrieved, and the positions of each motorboat to be parked within the annular passage, the order of passage of each motorboat to be parked and each motorboat to be retrieved is adjusted to achieve rapid parking and retrieval of motorboats with low energy consumption. When sending a motorboat retrieval message to the controller, the client can send it via various methods, such as wireless network or direct input device. These methods are all prior art and will not be further described here.

[0068] When controlling the parking of motorboats, the present invention allocates motorboat elevator shafts for each motorboat to be parked according to the number of motorboats to be parked and the layer number with vacant motorboat berths, so that the motorboats to be parked can be parked preferentially in the lower annular storage layer, thereby reducing energy consumption; the present invention adjusts the passage order of the motorboats to be parked and the motorboats to be taken according to the positions of the motorboats to be parked and the motorboat elevator shafts allocated thereto, and the positions of the motorboat elevator shafts corresponding to the motorboats to be taken, thereby realizing rapid parking and taking of motorboats.

[0069] The step S200 may specifically include:

[0070] For each motorboat elevator shaft in the three-dimensional mooring equipment, determine the layer number of each fan-shaped area corresponding to the motorboat elevator shaft where there is an idle motorboat berth, and use the minimum layer number of each fan-shaped area determined as the minimum layer number of the motorboat elevator shaft, sort the minimum layer numbers of each motorboat elevator shaft from small to large, and use the motorboat elevator shafts corresponding to the first N minimum layer numbers after sorting as target parking shafts, and according to the positions of the N target parking shafts in the annular channel and the order of the N motorboats to be parked, allocate the N target parking shafts to the corresponding motorboats to be parked, where N is the number of motorboats to be parked and is an integer greater than 0. The present invention preferentially allocates the motorboat elevator shaft with an idle motorboat berth on the bottom layer to the incoming motorboat to be parked, so that the motorboats can be parked in an orderly manner from bottom to top, thereby reducing the parking energy consumption of the three-dimensional mooring equipment. In step S200, after allocating the N target parking shafts to the corresponding motorboats to be parked, the method may further include:

[0071] According to the position of each motorboat to be parked in the annular channel, the control indicating device guides the target parking well of each motorboat to be parked.

[0072] The step S300 may specifically include:

[0073] After receiving a new motorboat extraction message, determine the parking position of each motorboat in all the currently received motorboat extraction messages, and use the motorboat elevator shaft corresponding to each parking position as the target extraction shaft. For each motorboat to be parked in the annular channel, perform the following steps, combined with Figure 10 Said:

[0074] Step S310: The motorboat to be parked and its target parking well are respectively regarded as the first motorboat to be parked and the first target parking well, and whether there is a target extraction well between the location of the first motorboat to be parked and its first target parking well is determined. If so, first moments P1 to Pm are determined for each of the existing 1st to mth target extraction wells from the front to the back, when the motorboat to be parked is immediately extracted and leaves the corresponding target extraction well, where m is the number of existing target extraction wells and is an integer greater than 0. Second moments Q1 to Qm are determined for each of the existing 1st to mth target extraction wells from the front to the back; otherwise, no processing is performed.

[0075] Step S320, for the i-th target extraction well located between the position of the first motorboat to be parked and its first target parking well and from front to back, i is an integer greater than 0 and less than or equal to m, and its initial value is 1, judge whether the first moment Pi corresponding to the i-th target extraction well is earlier than or equal to the second moment Qi when the first motorboat to be parked enters the i-th target extraction well, if so, it means that extracting the i-th motorboat to be parked from the i-th target extraction well will not affect the normal passage of the first motorboat to be parked behind it, at this time directly control the lifting slider in the i-th target extraction well to extract the i-th motorboat to be parked, i++, return to execute step S320, otherwise, it means that extracting the i-th motorboat to be parked from the i-th target extraction well will affect the normal passage of the first motorboat to be parked behind it, execute step S330 to select whether to let the first motorboat to be parked pass first or let the i-th motorboat to be parked pass first;

[0076] Step S330: If the first waiting motorboat is allowed to pass first, first calculate the time Ti1 for the i-th waiting motorboat in the i-th target extraction well to be extracted and leave the i-th target extraction well, and then calculate the waiting time Hi1 = Qi - current time + Ti1 for extracting the i-th waiting motorboat;

[0077] If it is chosen to let the i-th waiting motorboat pass first, the waiting time Ti2=Pi-Qi that the first waiting motorboat needs to wait is first calculated, and then it is determined whether there are other waiting motorboats between the first waiting motorboat and the nearest target extraction well behind it. If so, the other waiting motorboats are regarded as intermediate waiting motorboats, and the third moments R31~R3k when the 1st to k-th intermediate waiting motorboats enter the i-th target extraction well are determined respectively, where k represents the number of intermediate waiting motorboats and is an integer greater than 0. The first moment Pi is subtracted from each third moment R31~R3k respectively, and the values with positive subtraction results and the time Ti2 are added to obtain the total waiting time Hi2 of each waiting motorboat between the i-th target extraction well and the adjacent target extraction well behind it, and step S340 is executed;

[0078] If not, the time length Ti2 is used as the total waiting time Hi2 of each motorboat between the i-th target extraction well and the adjacent target extraction well, and step S340 is executed;

[0079] Step S340: Determine whether Hi1 is greater than or equal to Hi2. If so, allow the i-th motorboat to be picked up to pass before the first motorboat to be parked. Otherwise, allow the first motorboat to be parked to pass before the i-th motorboat to be picked up, and execute step S350.

[0080] Step S350: For the jth intermediate waiting motorboat from the front to the back, where j is an integer less than or equal to k and has an initial value of 1, if the jth intermediate waiting motorboat is allowed to pass before the i-th waiting motorboat, first calculate the waiting time Ij1 = R3j - current time + Ti1 required to extract the i-th waiting motorboat, where R3j is the third time when the jth intermediate waiting motorboat enters the i-th target extraction well;

[0081] If the i-th motorboat to be picked up is allowed to pass before the j-th intermediate motorboat waiting to be picked up, then the first moment Pi is subtracted from each of the third moments R3j-R3k, and the values with positive subtraction results are added together to obtain the total waiting time Ij2 between the i-th target extraction well and the adjacent target extraction well behind, and then step S360 is executed;

[0082] Step S360, determine whether Ij1 is greater than or equal to Ij2. If so, let the i-th motorboat to be picked up pass before the j-th intermediate motorboat to be parked, j++, and return to step S350. Otherwise, let the j-th intermediate motorboat to be parked pass before the i-th motorboat to be picked up, j++, and return to step S350.

[0083] When a motorboat to be parked passes through a target extraction well and a jam occurs with the extraction of motorboats to be parked in the target extraction well, the present invention does not directly avoid the jam according to the time at which the motorboats to be parked enter or leave the target extraction well. Instead, the present invention takes into account the waiting time for the extraction of the motorboat to be parked and the total waiting time of the motorboat to be parked and the motorboats to be parked behind it under different working conditions. When the waiting time for the extraction of the motorboat to be parked is greater than or equal to the total waiting time of the corresponding motorboat to be parked and the motorboats to be parked behind it, the motorboat to be parked is selected to pass before the motorboat to be parked. Otherwise, the motorboat to be parked is selected to pass before the motorboat to be parked. The present invention takes into account the position of multiple motorboats to be parked in the corresponding section of the annular channel, and solves the congestion problem when the motorboat extraction path and the motorboat passage path in the annular channel are combined. This can improve the parking speed of the motorboat while ensuring the smooth parking of the motorboat and ensure a good user experience.

[0084] Other embodiments of the present invention will readily occur to those skilled in the art after considering the specification and practicing the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the present invention that follow the general principles of the invention and include common knowledge or customary techniques in the art not disclosed herein. The description and examples are to be considered as exemplary only, with the true scope and spirit of the invention being indicated by the following claims.

[0085] It will be appreciated that the present invention is not limited to the precise construction that has been described above and shown in the accompanying drawings, and that various modifications and variations can be made without departing from its scope, which is governed solely by the appended claims.

Claims

1. A three-dimensional mooring device for water vehicles, characterized by: It includes a lifting mechanism, the outer ring of which is provided with multiple annular storage layers in the longitudinal direction, each of which includes multiple yacht berth areas and motorboat berth areas, which are arranged at intervals from each other, and the lifting mechanism is connected to the yacht berth area and motorboat berth area of each annular storage layer.

2. The three-dimensional mooring system for water vehicles according to claim 1, characterized in that: It also includes a drive-in berthing layer arranged at the lower part of the annular storage layer, and the drive-in berthing layer includes a yacht lifting shaft arranged in the middle of the lifting mechanism and a motorboat lifting shaft arranged on the outer circle of the lifting mechanism. A yacht lifting platform is arranged in the yacht lifting shaft, and the yacht lifting platform is connected to the lifting mechanism. There are multiple motorboat lifting shafts and they are arranged opposite to the motorboat berth area above and below. A motorboat lifting bracket is arranged in the motorboat lifting shaft, and the motorboat lifting bracket is connected to the lifting mechanism.

3. The three-dimensional mooring system for water vehicles according to claim 2, characterized in that: A cleaning layer is provided between the driving-in berthing layer and the annular storage layer. The cleaning layer comprises a plurality of cleaning platforms arranged in an annular array. The middle of the cleaning platform is the yacht lifting shaft, and the motorboat lifting shaft is located between two adjacent cleaning platforms.

4. The three-dimensional mooring system for water vehicles according to claim 2 or 3, characterized in that: The entry and berthing layer is also provided with a yacht entry channel and a motorboat entry channel. The yacht entry channel is a straight channel A and is connected to the yacht elevator shaft. The motorboat entry channel includes straight channels B arranged on both sides of the yacht entry channel and an annular channel connecting the two straight channels B. The annular channel is arranged around the entry and berthing layer and is connected to each motorboat elevator shaft.

5. The three-dimensional mooring system for water vehicles according to claim 4, characterized in that: The lifting mechanism includes a yacht lifting column arranged at the center of the yacht lifting shaft, the yacht lifting platform is installed on the top of the yacht lifting column, and the yacht lifting column is driven to move up and down and rotate by a driving mechanism; or the lifting mechanism includes a winch installed above the yacht lifting platform, the winch is connected to the yacht lifting platform by a steel cable, so as to lift the yacht lifting platform and cause the yacht lifting platform to rotate along its longitudinal axis; The lifting mechanism further includes a motorboat lifting column arranged in the motorboat lifting shaft, and the motorboat lifting bracket is slidably arranged on the motorboat lifting column.

6. The three-dimensional mooring system for water vehicles according to claim 5, characterized in that: The yacht berth area of the annular storage layer includes a yacht berth platform, which is rectangular and arranged radially, and is provided with a yacht parking bracket; the fan-shaped area between two adjacent yacht berth platforms is the motorboat berth area, the motorboat lifting column is located at the inner corner of the motorboat berth area, and the outer circle of the motorboat berth area is provided with a motorboat parking bracket; The yacht lifting platform is provided with a radial slideway, a yacht transport trolley is slidably provided on the radial slideway, the yacht parking bracket on the yacht berth platform is radially arranged toward the center of the yacht lifting platform, and the yacht transport trolley is slidably connected to the yacht parking bracket; The yacht transport trolley includes a transport base plate, a pulley is provided on the bottom surface of the transport base plate, and the pulley slides in a radial slideway. Two parallel yacht transport cross bars are provided on the top surface of the transport base plate, and a vertical yacht stopper is also provided on one side of the transport base plate; the yacht parking bracket includes two parallel yacht parking cross bars, and the distance between the two yacht parking cross bars is greater than the width of the transport base plate.

7. The three-dimensional mooring system for water vehicles according to claim 6, characterized in that: The outer ring of the motorboat berth area is provided with a plurality of motorboat parking brackets, the motorboat parking brackets are radially arranged toward the axis of the motorboat lifting rod, a lifting slider is provided on the motorboat lifting column for sliding transversely and axially, and the motorboat lifting column drives the lifting slider to rotate when rotating along its longitudinal axis, the motorboat lifting bracket is mounted on the lifting slider, and the motorboat parking bracket is connected to the motorboat lifting bracket; The motorboat lifting bracket includes two parallel motorboat transporting cross bars connected to the lifting slider, and the motorboat parking bracket includes two parallel motorboat parking cross bars, the spacing between the two motorboat transporting cross bars is greater than the maximum distance between the two motorboat parking cross bars, and a motorboat transfer sleeve is provided on the motorboat transporting cross bar, and the motorboat transfer sleeve moves back and forth along the axis of the motorboat transporting cross bar and connects with the motorboat parking cross bar.

8. A method for controlling the parking and unparking of a motorboat in a three-dimensional mooring system for water vehicles according to any one of claims 1 to 7, characterized in that: include: Step S100: receiving the number of motorboats to be parked at the motorboat entrance and the positions of the motorboats to be parked in the annular channel identified in real time, and monitoring the reception of the motorboat extraction message in real time; Step S200: Allocate a motorboat elevator shaft to each motorboat to be docked according to the number of motorboats to be docked, the floor numbers of the vacant motorboat berths in the three-dimensional mooring equipment, and the positions of the corresponding motorboat elevator shafts; Step S300: After receiving a new motorboat extraction message, determine the position of the motorboat elevator shaft when extracting each motorboat to be picked up based on all the motorboat extraction messages currently received; adjust the passage order of each motorboat to be parked and each motorboat to be picked up based on the motorboat elevator shaft position of each motorboat to be parked, the motorboat elevator shaft position of each motorboat to be picked up, and the position of each motorboat to be parked in the annular channel, so as to achieve rapid parking and picking up of motorboats with lower energy consumption.

9. The motorboat parking control method according to claim 8, characterized in that: The step S200 specifically includes: For each motorboat elevator shaft in the three-dimensional berthing equipment, determine the layer number of the fan-shaped area corresponding to each layer of the motorboat elevator shaft where there is an empty motorboat berth, and use the minimum layer number of each determined fan-shaped area as the minimum layer number of the motorboat elevator shaft. Sort the minimum layer numbers of each motorboat elevator shaft from small to large, and use the motorboat elevator shafts corresponding to the first N minimum layer numbers after sorting as target parking shafts. According to the positions of the N target parking shafts in the annular channel and the order of the N motorboats to be parked, allocate the N target parking shafts to the corresponding motorboats to be parked, where N is the number of motorboats to be parked and is an integer greater than 0.

10. The motorboat parking control method according to claim 8, characterized in that: The step S300 specifically includes: After receiving a new motorboat extraction message, determine the parking position of each motorboat in all currently received motorboat extraction messages, and use the motorboat elevator shaft corresponding to each parking position as the target extraction shaft. For each motorboat to be parked in the annular channel, perform the following steps: Step S310: The motorboat to be parked and its target parking well are respectively regarded as the first motorboat to be parked and the first target parking well, and whether there is a target extraction well between the location of the first motorboat to be parked and its first target parking well is determined. If so, first moments P1 to Pm are determined for each of the existing 1st to mth target extraction wells from the front to the back, when the motorboat to be parked is immediately extracted and leaves the corresponding target extraction well, where m is the number of existing target extraction wells and is an integer greater than 0. Second moments Q1 to Qm are determined for each of the existing 1st to mth target extraction wells from the front to the back; otherwise, no processing is performed. Step S320, for the i-th target extraction well located between the position of the first motorboat to be parked and its first target parking well and from front to back, i is an integer greater than 0 and less than or equal to m, and its initial value is 1, judge whether the first moment Pi corresponding to the i-th target extraction well is earlier than or equal to the second moment Qi when the first motorboat to be parked enters the i-th target extraction well, if so, it means that extracting the i-th motorboat to be parked from the i-th target extraction well will not affect the normal passage of the first motorboat to be parked behind it, at this time directly control the lifting slider in the i-th target extraction well to extract the i-th motorboat to be parked, i++, return to execute step S320, otherwise, it means that extracting the i-th motorboat to be parked from the i-th target extraction well will affect the normal passage of the first motorboat to be parked behind it, execute step S330 to select whether to let the first motorboat to be parked pass first or let the i-th motorboat to be parked pass first; Step S330: If the first waiting motorboat is allowed to pass first, first calculate the time Ti1 for the i-th waiting motorboat in the i-th target extraction well to be extracted and leave the i-th target extraction well, and then calculate the waiting time Hi1 = Qi - current time + Ti1 for extracting the i-th waiting motorboat; If it is chosen to let the i-th waiting motorboat pass first, the waiting time Ti2=Pi-Qi that the first waiting motorboat needs to wait is first calculated, and then it is determined whether there are other waiting motorboats between the first waiting motorboat and the nearest target extraction well behind it. If so, the other waiting motorboats are regarded as intermediate waiting motorboats, and the third moments R31~R3k when the 1st to k-th intermediate waiting motorboats enter the i-th target extraction well are determined respectively, where k represents the number of intermediate waiting motorboats and is an integer greater than 0. The first moment Pi is subtracted from each third moment R31~R3k respectively, and the values with positive subtraction results and the time Ti2 are added to obtain the total waiting time Hi2 of each waiting motorboat between the i-th target extraction well and the adjacent target extraction well behind it, and step S340 is executed; If not, the time length Ti2 is used as the total waiting time Hi2 of each motorboat between the i-th target extraction well and the adjacent target extraction well, and step S340 is executed; Step S340: Determine whether Hi1 is greater than or equal to Hi2. If so, allow the i-th motorboat to be picked up to pass before the first motorboat to be parked. Otherwise, allow the first motorboat to be parked to pass before the i-th motorboat to be picked up, and execute step S350. Step S350: For the jth intermediate waiting motorboat from the front to the back, where j is an integer less than or equal to k and has an initial value of 1, if the jth intermediate waiting motorboat is allowed to pass before the i-th waiting motorboat, first calculate the waiting time Ij1 = R3j - current time + Ti1 required to extract the i-th waiting motorboat, where R3j is the third time when the jth intermediate waiting motorboat enters the i-th target extraction well; If the i-th motorboat to be picked up is allowed to pass before the j-th intermediate motorboat waiting to be picked up, then the first moment Pi is subtracted from each of the third moments R3j-R3k, and the values with positive subtraction results are added together to obtain the total waiting time Ij2 between the i-th target extraction well and the adjacent target extraction well behind, and then step S360 is executed; Step S360, determine whether Ij1 is greater than or equal to Ij2. If so, let the i-th motorboat to be picked up pass before the j-th intermediate motorboat to be parked, j++, and return to step S350. Otherwise, let the j-th intermediate motorboat to be parked pass before the i-th motorboat to be picked up, j++, and return to step S350.

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