Floating ocean platform docking device, docking control method and related device

Abstract

The invention discloses a floating type ocean platform butt joint device, a butt joint control method and a related device, and relates to the technical field of automation control. The device comprises two connectors of the same structure; one side provided with the execution mechanism is defined as an active side, and the execution mechanism is provided with a monocular machine vision sensor; the other side of the butt joint device is a passive side, and a chessboard code is pasted above the butt joint device on the passive side; the upper computer can firstly calibrate the monocular machine vision sensor according to the obtained image of the calibration chessboard code, and after calibration is completed, the execution mechanism can be automatically controlled to complete butt joint of the connector on the side and the connector on the other side according to the image of the calibration chessboard code obtained by the monocular machine vision sensor. According to the scheme provided by the invention, the docking process of the floating ocean platform is calibrated by using the monocular machine vision sensor, and the problems of low efficiency, insufficient safety and low precision during manual docking in the prior art are effectively solved.

Description

Technical Field

[0001] The present application relates to the field of automation control technology, and in particular to a floating ocean platform docking device, a docking control method, and related devices. Background Art

[0002] Offshore platforms are engineering structures designed specifically for offshore resource development. They boast exceptionally strong wind and wave resistance, providing a stable operating environment for oil and gas exploration, production, and storage operations. These offshore facilities utilize a modular design, adapting to diverse operating environments from shallow to deep waters through various structural configurations, including fixed and floating structures. Their versatility lies in their ability to serve as traditional oil and gas production platforms while also integrating power generation modules, storage and transportation systems, and marine research equipment. Equipped with modern features such as intelligent control systems and safety monitoring devices, these platforms not only ensure safe and efficient energy production but also promote sustainable development of marine resource development.

[0003] Offshore platforms come in a variety of structural types, including fixed, floating, mobile, modular, and special-purpose platforms. Floating offshore platforms are specifically designed to float on the surface of the water and are suitable for deep and ultra-deep waters. They are primarily used for the exploration, extraction, production, and transportation of oil and natural gas. They are also suitable for specialized applications such as floating liquefied natural gas facilities and floating wind turbines. The design and construction of floating platforms involves multiple factors, including stability, strength, environmental adaptability, and economic efficiency. With technological advancements, their role in marine resource development is becoming increasingly prominent.

[0004] When deploying floating offshore platforms, the installation and connection of connecting mechanisms is a complex and time-consuming task. Currently, connecting floating platforms is usually done manually, which brings several problems: First, manual connection can be time-consuming and labor-intensive in vast ocean areas, resulting in low efficiency; second, manual operation is unsafe in adverse weather conditions, exposing workers to potential risks; third, manual installation is difficult due to internal factors such as module size and manufacturing accuracy, as well as the uncertainty of external factors such as wind and waves. Manufacturing errors can lead to mismatched installation positions of connecting mechanisms, and changes in wind and waves can affect the positioning accuracy of the docking mechanism, ultimately leading to docking failure.

[0005] Therefore, developing an automatic docking device for a floating ocean platform with a simple structure and suitable for automatic control and its control scheme is of great significance for improving the application efficiency of floating ocean platforms in marine resource development. Summary of the Invention

[0006] The purpose of this application is to provide a floating ocean platform docking device, a docking control method and related devices, which can significantly improve the efficiency and effect of floating ocean platform docking.

[0007] To achieve the above objectives, this application provides the following solutions:

[0008] In a first aspect, the present application provides a floating offshore platform docking device, comprising: two connectors of identical structure; one connector is arranged on the side of a floating offshore platform, and the other connector is fixed on an actuator, and the actuator is fixed on the side of another floating offshore platform; a monocular machine vision sensor is also provided on the actuator, and a calibration chessboard code is provided on the floating offshore platform not provided with an actuator; the calibration chessboard code is used to calibrate the monocular machine vision sensor; the monocular machine vision sensor is calibrated by a host computer based on an image of the calibration chessboard code obtained by the monocular machine vision sensor, and after completing the calibration of the monocular machine vision sensor, the actuator is controlled by the host computer based on an image of the calibration chessboard code obtained by the monocular machine vision sensor to complete the docking of the connector on the actuator side with the other connector.

[0009] Optionally, the connector includes a base, a connector side wall, a locking tongue, a locking handle, a hook head and an unhooker; the locking tongue is semicircular in side section, and the straight edges of the locking tongues of the two connectors are arranged correspondingly; one end of the locking handle is fixedly connected to the arc edge of the locking tongue, and the center of the locking handle is connected to the connector side wall by a spring. When the spring is in a compressed state, the other end of the locking handle passes through the connector side wall and contacts the base, and the base is used to limit the locking handle; the hook head is directed toward the opposite connector along the connector side wall, and a semicircular groove for matching the locking tongue is provided on the inner side of the hook head. During the docking process of the two connectors, after the straight edge of the locking tongue contacts the hook head, the straight edges of the locking tongue and the hook head gradually become the same direction, and after the straight edges of the two locking tongues completely overlap, the two locking tongues are driven back to their original position by the spring to fix the two connectors.

[0010] Optionally, the end of the hook head of the connector is set to correspond to the unhooker of another connector. When the hook head is docked into place, the hook head pushes the unhooker of the other connector to the lower limit position, thereby realizing the separation of the connector side wall and the base. After the connector side wall and the base are completely separated, a flexible connection is achieved between the base and the connector side wall through a cable.

[0011] In a second aspect, the present application provides a docking control method for a floating offshore platform docking device as described above, specifically comprising the following steps:

[0012] The monocular machine vision sensor is calibrated according to the image of the calibration chessboard code obtained by the monocular machine vision sensor.

[0013] After the calibration of the monocular machine vision sensor is completed, the actuator is controlled to connect the connector on the actuator side with another connector according to the image of the calibration chessboard code obtained by the monocular machine vision sensor.

[0014] Optionally, calibrating the monocular machine vision sensor according to the image of the calibration chessboard code acquired by the monocular machine vision sensor specifically includes the following steps:

[0015] The world coordinate system is established by setting the central feature point of the chessboard code as the origin, and a number of original images including the calibration chessboard code are obtained through a monocular machine vision sensor.

[0016] Several original images are processed respectively using grayscale and binarization image enhancement techniques to obtain preprocessed images.

[0017] For any preprocessed image, the coordinates of each corner point in the preprocessed image in the pixel coordinate system are extracted through the corner point coordinate extraction function.

[0018] According to the coordinates of each corner point in the pixel coordinate system and the coordinates of each corner point in the world coordinate system, the homography matrix of the monocular machine vision sensor is determined.

[0019] Solve the homography matrix of the monocular machine vision sensor, obtain the intrinsic parameter matrix and extrinsic parameter matrix of the monocular machine vision sensor, and complete the calibration of the monocular machine vision sensor.

[0020] Optionally, according to the image of the calibrated chessboard code acquired by the monocular machine vision sensor, controlling the actuator to dock the connector on the actuator side with another connector specifically includes the following steps:

[0021] The original image including the calibrated chessboard code is acquired using a calibrated monocular machine vision sensor.

[0022] The original image is processed using grayscale and binarization image enhancement techniques to obtain a preprocessed image.

[0023] According to the preprocessed image and the extrinsic parameter matrix of the monocular machine vision sensor, the relative position information of the monocular machine vision sensor relative to the calibration chessboard code is obtained.

[0024] The actuator is controlled according to the relative position information to connect the connector on the actuator side with another connector.

[0025] In a third aspect, the present application provides a docking control system for a floating offshore platform docking device as described above, comprising the following modules:

[0026] The monocular camera calibration module is used to calibrate the monocular machine vision sensor according to the calibration chessboard code image obtained by the monocular machine vision sensor.

[0027] The adaptive docking control module is used to control the actuator to dock the connector on the actuator side with another connector according to the image of the calibration chessboard code obtained by the monocular machine vision sensor after the monocular machine vision sensor is calibrated.

[0028] In a fourth aspect, the present application provides a computer device comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the docking control method of the floating offshore platform docking device described above.

[0029] In a fifth aspect, the present application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the docking control method for the floating offshore platform docking device described above.

[0030] In a sixth aspect, the present application provides a computer program product, comprising a computer program, which, when executed by a processor, implements the steps of the docking control method for the floating offshore platform docking device described above.

[0031] According to the specific embodiments provided in this application, this application discloses the following technical effects:

[0032] The present application provides a floating ocean platform docking device, a docking control method, and related devices. The device mainly includes two connectors of the same structure; one of the connectors is directly set on the side of a floating ocean platform, and the other connector is fixed to the side of another floating ocean platform through an actuator; a monocular machine vision sensor is also provided on the actuator on this side, and a corresponding calibration chessboard code is provided on the floating ocean platform without an actuator. The host computer can calibrate the monocular machine vision sensor based on the image of the calibration chessboard code obtained, and after the calibration is completed, the host computer can automatically control the actuator to complete the docking of the connector on the actuator side with the other connector based on the image of the calibration chessboard code obtained by the monocular machine vision sensor. The solution proposed in this application uses a monocular machine vision sensor to calibrate the docking process of the floating ocean platform, effectively solving the problems of low efficiency, insufficient safety, and low precision in manual docking in the existing technology, and significantly improving the efficiency and effect of the docking of the floating ocean platform. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0034] Figure 1 A schematic diagram of the hardware structure of a floating offshore platform docking device provided in one embodiment of the present application.

[0035] Figure 2 This is a structural schematic diagram of two connectors of a floating offshore platform docking device provided by one embodiment of the present application before docking.

[0036] Figure 3 This is a structural schematic diagram of two connectors of a floating offshore platform docking device provided by one embodiment of the present application during docking.

[0037] Figure 4 This is a structural schematic diagram of two connectors of a floating offshore platform docking device provided by one embodiment of the present application after docking.

[0038] Figure 5 This is a top perspective view of two connectors of a floating offshore platform docking device provided by one embodiment of the present application before docking.

[0039] Figure 6 This is a top perspective view of two connectors of a floating offshore platform docking device provided by one embodiment of the present application after docking.

[0040] Figure 7 A schematic diagram of a floating offshore platform docking device provided in one embodiment of the present application, wherein two floating offshore platforms are flexibly connected via cables after docking.

[0041] Figure 8 This is a flow chart of a docking control method for a floating offshore platform docking device provided in one embodiment of the present application.

[0042] Figure 9 This is a flow chart of step S1 in a docking control method for a floating offshore platform docking device provided in one embodiment of the present application.

[0043] Figure 10 A schematic diagram of a visual imaging model in a docking control method for a floating offshore platform docking device provided in one embodiment of the present application.

[0044] Figure 11 This is a flow chart of step S2 in a docking control method for a floating offshore platform docking device provided in one embodiment of the present application.

[0045] Figure 12 This is a schematic diagram of the hardware control structure of a floating offshore platform docking device provided in another embodiment of the present application.

[0046] Figure 13A schematic diagram of the functional modules of a docking control system for a floating offshore platform docking device provided in one embodiment of the present application.

[0047] Figure 14 A schematic diagram of the structure of a computer device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0048] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0049] Offshore platform structures include fixed, floating, mobile, modular, and special-purpose platforms. Floating platforms are suitable for deepwater applications and are used for oil and natural gas exploration, extraction, production, transportation, and specialized purposes. They are anchored by anchoring systems to withstand harsh marine environments, and some are equipped with dynamic positioning systems. Their design and construction require consideration of numerous factors, and technological advances are making them increasingly important in the development of marine resources.

[0050] Breakwaters are a type of marine platform that protect port facilities and waterway stability, prevent coastal erosion, mitigate the impact of storm surges, improve water quality, and provide habitats for marine life. They play an important role in ensuring coastal safety, promoting economic development, and protecting the marine ecosystem. Some breakwaters also serve tourism and leisure purposes. Several Chinese invention patents currently describe a system and method for rapidly erecting ultra-long modular floating breakwaters (CN202111613157.8), as well as a multi-module floating breakwater offshore deployment vessel and deployment method (CN202110889776.3).

[0051] The installation and connection of connecting mechanisms for deploying floating breakwaters is complex and time-consuming. Manual installation can be inefficient, unsafe, and difficult. Manufacturing errors and environmental variations can affect docking accuracy, leading to docking failures. The present invention aims to achieve rapid, automated docking of floating offshore platforms by automatically controlling the docking of docking devices and monitoring the docking process through monocular machine vision, thereby enabling the rapid deployment of floating offshore platforms.

[0052] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the present application is further described in detail below with reference to the accompanying drawings and specific implementation methods.

[0053] The embodiment of the present application provides a floating ocean platform docking device. In an exemplary embodiment, as Figure 1As shown, it includes: two connectors with the same structure; one connector is set on the side of a floating offshore platform, and the other connector is fixed on the actuator, and the actuator is fixed on the side of another floating offshore platform; the actuator is also provided with a monocular machine vision sensor, and the floating offshore platform without the actuator is provided with a calibration chessboard code.

[0054] The calibration chessboard code is used to calibrate the monocular machine vision sensor; the monocular machine vision sensor is calibrated by the host computer based on the image of the calibration chessboard code obtained by the monocular machine vision sensor, and after the calibration of the monocular machine vision sensor is completed, the actuator is controlled by the host computer based on the image of the calibration chessboard code obtained by the monocular machine vision sensor to complete the docking of the connector on the actuator side with the other connector.

[0055] In a specific embodiment, Figure 2 As shown, the connector includes a base, connector sidewalls, a lock tongue, a lock handle, a hook head, and a hook release device; the base is used to support the connector body and absorb impact force. The lock tongue is semicircular in side section, and the straight edges of the lock tongues of the two connectors are set correspondingly; one end of the lock handle is fixedly connected to the arc edge of the lock tongue, and the center of the lock handle is connected to the connector sidewall via a spring, as shown in FIG. Figure 2 As shown, when the spring is in a compressed state, the other end of the lock handle passes through the side wall of the connector and contacts the base, which is used to limit the lock handle; the hook head is directed toward the opposite connector along the side wall of the connector, and a semicircular groove for matching the lock tongue is provided on the inner side of the hook head. During the docking process of the two connectors, after the straight edge of the lock tongue contacts the hook head, the straight edge of the lock tongue and the hook head gradually face the same direction, as shown in FIG. Figure 3 As shown in the figure, during the connection process, as the connectors gradually approach, the lock tongue rotates to an angle parallel to the docking direction under the pressure of the hook head, and the tension of the spring gradually increases; after the straight edges of the two lock tongues completely overlap, the spring drives the two lock tongues back to their original position, as shown in the figure. Figure 4 As shown, the two connectors are fixed.

[0056] Further explanation: the end of the hook of the connector is set corresponding to the unhooking device of the other connector. When the two connectors are not in contact, Figure 5 As shown, the unhooker reaches the upper limit position. At this time, the unhooker slot drives the connecting rod to extend outward from the connector, pushing the blocks at the other ends of the two connecting rods into the fixing holes of the base and the side wall of the connector, thereby fixing the side wall of the connector to the base; and when the hook head is docked in place, one end of the hook head pushes the unhooker of the other connector to the lower limit position, as shown in FIG. Figure 6 As shown, the two connecting rods drive the card block to slide out of the fixing hole, and the connector body is unlocked from the base, so that the connector side wall and the base are separated. After the connector side wall and the base are completely separated, the base and the connector side wall are flexibly connected by a cable. The flexible connection effect is as follows Figure 7 shown.

[0057] Corresponding to the floating ocean platform docking device provided in the above embodiment, the following embodiment provides a docking control method for the floating ocean platform docking device, such as Figure 8 As shown, the method includes the following steps:

[0058] S1. Calibrate the monocular machine vision sensor based on an image of the calibration checkerboard code captured by the monocular machine vision sensor. The side with the actuator (specifically, a 6-DOF platform) is defined as the active side. The actuator is mounted on the monocular machine vision sensor, specifically a 6-DOF platform. The other side is defined as the passive side. A 5×5 checkerboard code, used for camera calibration, is attached to the docking station on the passive side.

[0059] Camera calibration is a key step in the automatic docking process, and its accuracy determines the precision of the docking process. The purpose of general vision system calibration is to determine the parameters of the camera's imaging geometry model, that is, the correspondence between points in three-dimensional space and points in the two-dimensional image captured by the camera. This process involves the transformation of multiple coordinate systems, among which the transformation from the world coordinate system to the camera coordinate system is the key to achieving automatic docking.

[0060] The camera coordinate system is a right-handed coordinate system with the optical center of the camera as its origin, and moves with the movement of the camera; the world coordinate system is a fixed global coordinate system that provides a unified reference for the entire docking process. The transformation between the camera coordinate system and the world coordinate system involves rotational transformation and translational transformation, which are described by rotation matrices and translation vectors respectively. These two parameters are called camera extrinsics. Since the checkerboard code used for calibration is fixed on the docking mechanism on the stationary passive side during each docking process, this embodiment calibrates the camera to obtain the camera intrinsic parameters and the relative position information between the active docking mechanism and the passive docking mechanism by establishing a world coordinate system with the origin as the characteristic point of the checkerboard code center.

[0061] In this embodiment, if Figure 9 As shown, step S1 specifically includes the following steps:

[0062] S11. Set the center feature point of the checkerboard code as the origin to establish a world coordinate system, and use a monocular machine vision sensor to obtain several original images containing the calibration checkerboard code. Specifically, the position of the monocular camera is changed by moving the 6-DOF platform, and images of the calibration checkerboard code are obtained under the corresponding camera position. Images that do not contain all the checkerboard code corner points are deleted from the collected images, and valid samples are selected as the original images. In order to complete the camera calibration, 10 to 20 images are usually required.

[0063] S12. Processing the plurality of original images using grayscale and binarization image enhancement techniques to obtain preprocessed images. Specifically, using OpenCV to grayscale an image captured by a monocular machine vision sensor to simplify the image data, and then binarizing the grayscale image to reduce it to black and white.

[0064] S13. For any pre-processed image, use the corner point coordinate extraction function to extract the coordinates of each corner point in the pre-processed image in the pixel coordinate system. Use the findChessboardCorners function to extract each corner point P in the image. i Coordinate u' in pixel coordinate system i ,v' i .

[0065] S14, according to the coordinates of each corner point in the pixel coordinate system and the coordinates of each corner point in the world coordinate system, determine the homography matrix of the monocular machine vision sensor. The visual imaging model is as follows Figure 10 As shown, the known conditions required for the calibration process are the coordinates of each corner point of the chessboard code in the pixel coordinate system oxy and the world coordinate system. The coordinates of each corner point in the pixel coordinate system have been obtained during the image acquisition and processing process, and the coordinates in the world coordinate system need to be obtained. When establishing the world coordinate system, the world coordinate system Ow-XwYwZw is established with the center corner point of the chessboard as the origin. By setting the XwYw plane of the world coordinate system to the plane where the chessboard code is located, the Zw coordinate of the corner point can be converted to 0. The positive direction of the Xw axis is vertically upward, the positive direction of the Yw axis is horizontally to the right, and the Zw axis is perpendicular to the XwYw plane, and its positive direction is the direction pointing to the active side docking mechanism. After the world coordinate system is established, the coordinates (x wi ,y wi ,0).

[0066] The world coordinate system needs to go through multiple transformation processes before it can be converted into the pixel coordinate system. The position mapping relationship of this process can be described by the homography matrix. Since it includes the coordinate system transformation process of the entire camera calibration, the homography matrix is ​​the product of the camera extrinsic parameters and the camera intrinsic parameters. Its definition is shown in the following formula:

[0067]

[0068] Among them, s is the scale factor, M is the internal parameter matrix, and f x 、f y is the equivalent focal length in the x-axis and y-axis directions, u0 and v0 are the coordinates of the principal point, i.e., the coordinates of the intersection of the optical axis and the imaging plane, γ is the tilt factor, r1r2t is the camera external parameter, r1 and r2 are the column vectors of the rotation matrix, and t is the translation vector. For the convenience of calculation, let the homography matrix H be:

[0069]

[0070] Take four non-collinear corner points P on the chessboard code i (i=1, 2, 3, 4), its coordinates in the world coordinate system are [x wi y wi z wi ], the coordinates in the pixel coordinate system are [u' i v' i ], then we have the following formula:

[0071]

[0072] After expanding the system of equations and setting the modulus of the homography matrix to 1, we can obtain two equations. The homography matrix has 8 degrees of freedom, so four corresponding point pairs are required to solve the homography matrix H.

[0073] S15. Solve the homography matrix of the monocular machine vision sensor, obtain the intrinsic parameter matrix and the extrinsic parameter matrix of the monocular machine vision sensor, and complete the calibration of the monocular machine vision sensor.

[0074] Convert the homography matrix H into three column vectors h1, h2, and h3. According to the definition of the homography matrix, we have

[0075] H=[h1 h2 h3]=sM[r1 r2 t].

[0076] When the number of collected pictures is greater than three, the determinant has a solution, and the camera intrinsic parameter matrix M can be obtained by substituting it into the following formula:

[0077] r1=λM -1 h1.

[0078] r2=λM -1 h2.

[0079] r3=r1×r2.

[0080] t=λM -1 h3.

[0081] The camera external parameter matrix can be obtained, and the rotation matrix R and displacement vector t can be obtained, so as to control the actuator to perform actions.

[0082] S2. After completing the calibration of the monocular machine vision sensor, the actuator is controlled to dock the connector on the actuator side with another connector according to the image of the calibration chessboard code obtained by the monocular machine vision sensor. Figure 11 As shown, step S2 specifically includes the following steps:

[0083] S21. Acquire an original image including a calibrated chessboard code using the calibrated monocular machine vision sensor.

[0084] S22: Process the original image using grayscale and binarization image enhancement techniques to obtain a pre-processed image. This step can improve the recognition accuracy of chessboard code feature points.

[0085] S23. Obtain the relative position information of the monocular machine vision sensor relative to the calibration checkerboard code based on the preprocessed image and the extrinsic parameter matrix of the monocular machine vision sensor. The relative position information of the camera optical center relative to the center of the checkerboard code can be obtained through the extrinsic parameter matrix of the camera.

[0086] S24. Based on the relative position information, the actuator is controlled to mate the connector on the actuator side with the other connector. Based on the relative position information, the docking device on the active side is controlled to align with the docking device on the passive side. Finally, the conveyor belt of the assembly platform is activated, and the two floating offshore platforms are automatically docked by collision.

[0087] In another embodiment, Figure 12 As shown, in addition to the host computer, the hardware control structure of the floating offshore platform docking device also includes a motion control card, an image processing unit, a servo drive, and a servo motor. The host computer connects to the motion control card via a PCIe interface. The motion control card uses the EtherCAT bus to control the servo drive, which in turn drives the servo motor for precise movement. After obtaining images captured by the monocular machine vision sensor and the vehicle's relative position information, the host computer uses kinematic modeling and inverse calculations on the motion control card to determine the motion instructions for the actuator. Based on these instructions and control algorithms, the servo drive generates control signals to drive the servo motor to perform the corresponding movements. The host computer also assesses the impact of environmental factors such as wind and waves. During the docking process, image data is again collected and preprocessed, and a PID controller is used to determine angle and position deviations to ensure precise docking. Finally, the monocular machine vision sensor monitors and provides real-time feedback on the platform's motion status. The host computer uses this feedback data for closed-loop control to ensure motion accuracy and stability.

[0088] This application addresses the high connection strength requirements and difficulty in deploying large floating offshore platforms. By designing a connector capable of automatic docking, this design not only meets the connection strength requirements of floating offshore platforms but also enables an automated docking process. By automating the docking process, this application reduces reliance on multiple auxiliary vessels and operators, lowering costs and operational complexity while increasing the flexibility and reliability of floating offshore platform deployment. Furthermore, monocular machine vision technology is utilized to enable detection and control during the automated docking process, improving the efficiency and reliability of floating offshore platform deployment and reducing reliance on manual operation.

[0089] Based on the same inventive concept, the embodiment of the present application also provides a system for implementing the docking control method of the above-mentioned floating offshore platform docking device. The solution provided by the system is similar to the solution described in the above-mentioned method. In an exemplary embodiment, Figure 13 As shown, the docking control system of the floating offshore platform docking device includes the following functional modules:

[0090] The monocular camera calibration module is used to calibrate the monocular machine vision sensor according to the calibration chessboard code image obtained by the monocular machine vision sensor.

[0091] The adaptive docking control module is used to control the actuator to dock the connector on the actuator side with another connector according to the image of the calibration chessboard code obtained by the monocular machine vision sensor after the monocular machine vision sensor is calibrated.

[0092] certainly, Figure 13 The architecture shown is only exemplary and can be omitted according to actual needs when implementing different functions. Figure 13 One or at least two components of the system shown.

[0093] In an exemplary embodiment, a computer device is provided. The computer device may be a server or a terminal. The internal structure diagram thereof may be as follows: Figure 14 As shown. The computer device includes a processor, a memory, an input / output interface (Input / Output, abbreviated as I / O) and a communication interface. The processor, memory and input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and computer program in the non-volatile storage medium. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, it can implement a docking control method for a floating offshore platform docking device provided in the previous embodiment.

[0094] Those skilled in the art will understand that Figure 14The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0095] In an exemplary embodiment, a computer device is further provided, including a memory and a processor. The memory stores a computer program, and the processor implements the steps in the above method embodiments when executing the computer program.

[0096] In an exemplary embodiment, a computer-readable storage medium is provided, storing a computer program. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments are implemented.

[0097] In an exemplary embodiment, a computer program product is provided, including a computer program. When the computer program is executed by a processor, the steps in the above method embodiments are implemented.

[0098] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant regulations.

[0099] Those skilled in the art will understand that all or part of the processes in the above-mentioned embodiment methods can be implemented by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, database or other media used in the embodiments provided in this application may include at least one of non-volatile and volatile memory. Non-volatile memory may include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory may include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM may be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM).

[0100] The databases involved in the various embodiments provided herein may include at least one of a relational database and a non-relational database. Non-relational databases may include, but are not limited to, distributed databases based on blockchains. The processors involved in the various embodiments provided herein may include, but are not limited to, general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic units, data processing logic units based on quantum computing, and the like.

[0101] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0102] This document uses specific examples to illustrate the principles and implementation methods of this application. The description of the above examples is only intended to help understand the method and core concept of this application. At the same time, for those skilled in the art, based on the concept of this application, there may be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting this application.

Claims

1. A floating offshore platform docking device, characterized in that: include: Two connectors of identical structure; one connector is arranged on the side of a floating offshore platform, and the other connector is fixed to an actuator, and the actuator is fixed to the side of another floating offshore platform; the actuator is also provided with a monocular machine vision sensor, and the floating offshore platform without an actuator is provided with a calibration chessboard code; the calibration chessboard code is used to calibrate the monocular machine vision sensor; the monocular machine vision sensor is calibrated by a host computer based on an image of the calibration chessboard code obtained by the monocular machine vision sensor, and after the calibration of the monocular machine vision sensor is completed, the host computer controls the actuator to dock the connector on the actuator side with the other connector based on the image of the calibration chessboard code obtained by the monocular machine vision sensor.

2. The floating offshore platform docking device according to claim 1, characterized in that: The connector includes a base, a connector side wall, a locking tongue, a locking handle, a hook head, and an unhooking device; the locking tongue is semicircular in side section, and the straight edges of the locking tongues of the two connectors are arranged correspondingly; one end of the locking handle is fixedly connected to the arc edge of the locking tongue, and the center of the locking handle is connected to the connector side wall via a spring; when the spring is in a compressed state, the other end of the locking handle passes through the connector side wall and contacts the base, and the base is used to limit the locking handle; The hook head is directed toward the opposite connector along the side wall of the connector, and a semicircular groove for matching the lock tongue is provided on the inner side of the hook head. During the docking process of the two connectors, after the straight edge of the lock tongue contacts the hook head, the straight edge of the lock tongue and the hook head gradually become the same direction, and after the straight edges of the two lock tongues completely overlap, the two lock tongues are driven by the spring to return to their original position, thereby fixing the two connectors.

3. The floating offshore platform docking device according to claim 2, characterized in that: The end of the hook head of the connector is arranged corresponding to the unhooking device of another connector. When the hook head is docked in place, the hook head pushes the unhooking device of the other connector to the lower limit position, thereby realizing the separation of the connector side wall and the base. After the connector side wall and the base are completely separated, a flexible connection is achieved between the base and the connector side wall through a cable.

4. A docking control method for a floating offshore platform docking device according to any one of claims 1 to 3, characterized in that: Specifically include: Calibrate the monocular machine vision sensor according to the image of the calibration chessboard code acquired by the monocular machine vision sensor; After the calibration of the monocular machine vision sensor is completed, the actuator is controlled to dock the connector on the actuator side with the other connector according to the image of the calibration chessboard code obtained by the monocular machine vision sensor.

5. The docking control method according to claim 4, characterized in that: Calibrating the monocular machine vision sensor according to the image of the calibration chessboard code acquired by the monocular machine vision sensor specifically includes: Setting the central feature point of the chessboard code as the origin to establish a world coordinate system, and acquiring a plurality of original images including the calibrated chessboard code through the monocular machine vision sensor; Using grayscale and binarization image enhancement techniques to process the plurality of original images respectively to obtain preprocessed images; For any pre-processed image, using a corner point coordinate extraction function, extract the coordinates of each corner point in the pre-processed image in a pixel coordinate system; Determine a homography matrix of the monocular machine vision sensor according to the coordinates of each corner point in the pixel coordinate system and the coordinates of each corner point in the world coordinate system; Solve the homography matrix of the monocular machine vision sensor, obtain the intrinsic parameter matrix and extrinsic parameter matrix of the monocular machine vision sensor, and complete the calibration of the monocular machine vision sensor.

6. The docking control method according to claim 5, characterized in that: According to the image of the calibrated chessboard code acquired by the monocular machine vision sensor, controlling the actuator to dock the connector on the actuator side with the other connector specifically includes: Acquire an original image including the calibrated checkerboard code using the calibrated monocular machine vision sensor; The original image is processed using grayscale and binarization image enhancement techniques to obtain a preprocessed image; Obtaining relative position information of the monocular machine vision sensor relative to the calibration checkerboard code according to the preprocessed image and the extrinsic parameter matrix of the monocular machine vision sensor; The actuator is controlled according to the relative position information to complete docking of the connector on the actuator side with the other connector.

7. A docking control system for a floating offshore platform docking device according to any one of claims 1 to 3, characterized in that: include: A monocular camera calibration module, configured to calibrate the monocular machine vision sensor according to an image of a calibration chessboard code acquired by the monocular machine vision sensor; The adaptive docking control module is used to control the actuator to dock the connector on the actuator side with the other connector according to the image of the calibration chessboard code obtained by the monocular machine vision sensor after completing the calibration of the monocular machine vision sensor.

8. A computer device comprising: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the docking control method for the floating offshore platform docking device according to any one of claims 4 to 6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the docking control method of the floating ocean platform docking device according to any one of claims 4 to 6 is implemented.

10. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the docking control method of the floating ocean platform docking device according to any one of claims 4 to 6 is implemented.

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