Suspension type multi-ship collaborative platform system capable of resisting wave bumping

Abstract

The invention provides an anti-wave-bumping suspended multi-ship collaborative platform system which comprises at least three small ships with power, a platform, mechanical arms and a detection device, each small ship is connected to the bottom of the platform through the corresponding mechanical arm, through multi-ship collaboration and dynamic adjustment of the mechanical arms, the platform is suspended above the effective wave height all the time, the bumping amplitude is reduced, and the service life of the platform is prolonged. And the system can monitor and adapt to environmental changes such as waves and wind speeds in real time, and can still operate stably under the sea condition. The platform stably runs to reduce the equipment damage risk, the accident rate is reduced, and the safety of personnel and equipment is guaranteed. And the design of the platform can be customized according to different application scenes, so that the platform has very high flexibility and expandability, and can meet the requirements of various fields such as ocean scientific research, ocean tourism, ocean rescue and the like.

Description

Technical Field

[0001] The present invention relates to the field of marine platform technology, and in particular to a suspended multi-vessel collaborative platform system that is resistant to wave turbulence. The system utilizes multiple powered boats to lift the platforms via controllable retractable mechanical arms, and enables the platforms to travel smoothly in waves through real-time detection and intelligent regulation. Background Art

[0002] In the marine environment, traditional offshore platforms, such as ships and offshore drilling platforms, are prone to pitching and swaying when exposed to waves. This not only affects the comfort of occupants, causing seasickness and other problems, but can also pose a threat to equipment and operational safety. For example, in fields such as marine scientific research, maritime tourism, and maritime rescue, platform instability can seriously affect work efficiency and personnel health.

[0003] Although some anti-roll devices and technologies are currently used on offshore platforms, most of them suffer from limited anti-roll effects, complex structures, and high costs. Therefore, a more effective, reliable, and economical solution to combat wave turbulence is needed. Summary of the Invention

[0004] In view of this, to address the existing technical problems, this invention proposes a wave-resistant, suspended multi-vessel collaborative platform system. Through multi-vessel collaborative lifting, dynamic adjustment of robotic arms, and intelligent algorithm control, the platform maintains stable operation in waves, avoiding direct contact with wave impact, providing a stable working environment for personnel and equipment, and reducing construction and operation and maintenance costs. Specifically, it includes the following:

[0005] The system is a suspended multi-vessel collaborative platform system that is resistant to wave and turbulence, and includes at least three powered boats, a platform, a robotic arm and a detection device. Each boat is connected to the bottom of the platform via a robotic arm. Each powered boat is equipped with an independent propulsion system and can navigate autonomously in the ocean. The robotic arm is a controllable and retractable robotic arm. The platform provides work and living space for personnel and equipment, and an interface for connection to the robotic arm is provided at the bottom of the platform. The detection device includes wave detection radars and laser devices installed around the platform, wind speed and direction detectors, and pressure sensors installed on the platform ground for real-time collection of wave parameters, wind speed and direction data, and changes in the platform's force distribution. A computer control system is connected to the drive systems of all detection devices and robotic arms, and is used to receive and analyze detection data in real time, coordinate the sailing speed and direction of the powered boats, and keep the platform suspended above the waves and maintain stable sailing.

[0006] Furthermore, the robotic arm is a controllable telescopic robotic arm and is controlled to be telescopic by an electric or hydraulic drive system.

[0007] Furthermore, the computer control system can analyze and process the received detection data in real time, and send control instructions to the drive system of the robotic arm according to the analysis results.

[0008] Furthermore, the connection interface between the platform and the robotic arm is a rigid fixed structure, which ensures that the robotic arm can reliably support the platform during the extension and retraction process, while transmitting the mechanical feedback signals required by the computer control system instructions.

[0009] Furthermore, the boats work in coordination with the instructions of the computer control system to adjust their own sailing speed and direction to adapt to the position changes of the platform and the changes in the ocean environment, thereby ensuring the smooth operation of the platform.

[0010] The above technical solution has the following beneficial effects:

[0011] Through multi-vessel coordination and dynamic adjustment of the robotic arm, the platform remains suspended above the effective wave height, reducing turbulence and significantly lowering seasickness. The system can monitor and adapt to environmental changes such as waves and wind speed in real time, maintaining stable operation in all sea conditions. The platform's smooth operation reduces the risk of equipment damage, lowers the accident rate, and ensures the safety of personnel and equipment. The platform's design can also be customized for different application scenarios, offering strong flexibility and scalability to meet the needs of various fields, including marine scientific research, maritime tourism, and maritime rescue. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 This is a schematic structural diagram of the wave-resistant suspended multi-vessel collaborative platform system of the present invention; DETAILED DESCRIPTION

[0013] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0014] Example 1, see Figure 1The wave-resistant suspended multi-vessel collaborative platform system shown in the figure includes at least three powered boats, a platform, a robotic arm and a detection device. Each boat is connected to the bottom of the platform through a robotic arm. Each powered boat is equipped with an independent propulsion system and can navigate autonomously in the ocean. The robotic arm is a controllable and retractable robotic arm. The platform provides work and living space for personnel and equipment, and an interface for connection to the robotic arm is provided at the bottom. The detection device includes wave detection radars and laser devices installed around the platform, wind speed and direction detectors, and pressure sensors installed on the ground of the platform, which are used to collect wave parameters, wind speed and direction data and changes in the force distribution of the platform in real time. The computer control system is connected to the drive systems of all detection devices and robotic arms, and is used to receive and analyze detection data in real time, coordinate the sailing speed and direction of the powered boats, and keep the platform suspended above the waves and maintain stable driving.

[0015] In this embodiment, the robotic arm is a controllable telescopic robotic arm that is controlled by an electric or hydraulic drive system. The computer control system can analyze and process the received detection data in real time, and send control instructions to the drive system of the robotic arm based on the analysis results. The connection interface between the platform and the robotic arm is a rigid fixed structure to ensure that the robotic arm can reliably support the platform during the telescopic process, while transmitting the mechanical feedback signal required by the computer control system instructions. The small boat works in coordination with the instructions of the computer control system to adjust its own sailing speed and direction to adapt to the changes in the platform's position and changes in the marine environment, ensuring the smooth operation of the platform.

[0016] Example 2, based on Example 1, utilizes three or more independently propelled boats arranged in a triangle or in a layout tailored to the platform's size. Each boat is equipped with an electric or hydraulic drive system and can autonomously adjust its speed and direction. The number and layout of the boats can be flexibly designed based on the platform's load requirements to ensure lift stability.

[0017] Each boat is connected to the platform's base via a high-strength robotic arm. The arm, electrically or hydraulically driven, allows for millimeter-level precision telescopic adjustment, supporting the platform's weight and the dynamic loads of waves. The arm is constructed from high-strength alloy steel to ensure structural reliability.

[0018] The platform provides a workspace and living area for personnel and equipment, with standardized robotic arm interfaces at the bottom for quick assembly and disassembly. The platform's shape (e.g., rectangular, circular) and size can be customized to suit the application, and the internal layout is optimized to minimize center of gravity shift.

[0019] Radars and laser sensors are installed around the platform. The radar measures the height, period and direction of waves through electromagnetic wave reflection, and the laser sensor uses laser beams to scan the surface morphology of waves to ensure real-time performance.

[0020] The wind speed and direction detector uses an ultrasonic anemometer to monitor wind speed and direction in real time, providing a basis for wind compensation for the adjustment of the robotic arm.

[0021] Pressure sensor: High-sensitivity pressure sensors are evenly distributed on the platform floor to detect pressure changes caused by people walking around, and then feed back to the control system to adjust the extension and retraction of the robotic arm.

[0022] Computerized control system: Equipped with advanced algorithms and models, it receives test data and performs real-time analysis, calculating the optimal platform balance and arm extension and retraction range, and sending control instructions to the drive system. The system utilizes a redundant design to ensure basic functionality in the event of a failure.

[0023] The data processing flow of the computer control system is as follows: Data acquisition and preprocessing: Wave radar and laser device, anemometer and pressure sensor transmit the original data to the control system, and the system filters and de-noises the data, removes outliers and aligns the time series to ensure data consistency.

[0024] Feature extraction and modeling: Key features are extracted from the preprocessed data, including wave height, period, direction, wind speed, wind direction, and platform pressure distribution. Combining physical models with machine learning algorithms, this embodiment uses an LSTM neural network to establish a dynamic coupling model of wave-wind-platform response to predict the platform's motion trend over the next 3-5 seconds. Based on the extracted features and models, the system calculates the optimal equilibrium position of the platform in the current ocean environment. For example, when it detects that the wave height exceeds a threshold, the system uses a genetic algorithm to determine the optimal extension and retraction of the robotic arm, ensuring that the platform always remains above the effective wave height and avoids direct contact with the waves.

[0025] Control Command Generation and Execution: Based on the calculation results, the system sends PWM (Pulse Width Modulation) control signals to the manipulator's drive system, driving the electric or hydraulic actuators to adjust the manipulator's length. Simultaneously, the system sends speed and direction commands to the powered boats, ensuring they work together to adapt to platform position changes. Control command transmission frequency is ≥20Hz to ensure real-time adjustments.

[0026] The system continuously monitors the platform's motion, compares the actual balance performance with the predicted value, and dynamically adjusts model parameters and control strategies. For example, if the platform still experiences minor turbulence, the system optimizes control commands using a reinforcement learning algorithm, gradually improving stability.

[0027] Data acquisition: Wave detection devices, anemometers and pressure sensors collect environmental data in real time and transmit it to the computer control system via wired or wireless means.

[0028] Data Analysis and Processing: The control system analyzes data in real time and, using pre-set algorithms and models, calculates the optimal balance of the platform and the extension and retraction of the robotic arm. For example, when wave height exceeds 1.5 meters, the system uses an optimization algorithm to determine that the robotic arm needs to be shortened by 0.3 meters to keep the platform suspended.

[0029] Robotic arm adjustment: Based on the calculation results, the system sends control instructions to the robot arm drive system, driving the robot arm to precisely extend and retract. The robot arm uses closed-loop control, with actual position feedback via encoders.

[0030] Through the coordinated action of multiple powered boats and controllable retractable robotic arms, coupled with real-time detection and intelligent control technology, the platform is able to consistently remain suspended above waves of significant height, effectively avoiding direct wave impacts on the platform and significantly reducing pitch and sway, providing a comfortable experience for passengers. The system monitors changes in the ocean environment, including wave motion, wind speed, and direction, in real time, automatically adjusting the retraction and extension of the robotic arms and the navigation of the boats based on these changes. This system exhibits strong adaptability and stability, enabling it to operate in a variety of complex ocean environments. The platform's smooth operation reduces the risk of seasickness and safeguards personnel's health. Furthermore, the stable platform environment protects the equipment and operations on board, reducing the risk of accidents. The number and layout of the powered boats can be adjusted based on actual needs, and the platform design can be customized for different application scenarios. This flexibility and scalability enable it to meet the needs of various fields, including marine scientific research, marine tourism, and maritime rescue operations. For example, when the platform needs to move left, the left boat decelerates while the right boat accelerates, enabling smooth steering through differential drive.

[0031] The above describes the basic principles and main features of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions only illustrate the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the invention to be protected. The scope of protection of the invention is defined by the attached claims and their equivalents.

Claims

1. The anti-wave and turbulence suspended multi-vessel collaborative platform system is characterized by: The system comprises at least three powered boats, a platform, a robotic arm and a detection device, each boat being connected to the bottom of the platform via a robotic arm. Each powered boat is equipped with an independent propulsion system and is capable of autonomous navigation in the ocean. The robotic arm is a controllable and retractable robotic arm. The platform provides work and living space for personnel and equipment, and an interface for connection to the robotic arm is provided at the bottom of the platform. The detection device comprises a wave detection radar and laser device installed around the platform, a wind speed and direction detector, and a pressure sensor installed on the platform ground for real-time collection of wave parameters, wind speed and direction data, and changes in the platform's force distribution. A computer control system is connected to the drive systems of all detection devices and robotic arms, for receiving and real-time analysis of detection data, coordinating the navigation speed and direction of the powered boats, and allowing the platform to suspend above the waves and maintain stable navigation.

2. The anti-wave and turbulence suspended multi-vessel collaborative platform system according to claim 1 is characterized in that: The mechanical arm is a controllable telescopic mechanical arm and is controlled to be telescopic by an electric or hydraulic drive system.

3. The anti-wave and turbulence suspended multi-vessel collaborative platform system according to claim 1 is characterized in that: The computer control system can analyze and process the received detection data in real time, and send control instructions to the drive system of the robot arm according to the analysis results.

4. The anti-wave and turbulence suspended multi-vessel collaborative platform system according to claim 1 or 2, characterized in that: The connection interface between the platform and the robotic arm is a rigid fixed structure, which ensures that the robotic arm can reliably support the platform during the extension and retraction process, and at the same time transmit the mechanical feedback signals required by the computer control system instructions.

5. The anti-wave and turbulence suspended multi-vessel collaborative platform system according to claim 1 is characterized in that: The boats work together according to the instructions of the computer control system to adjust their own sailing speed and direction to adapt to the changes in the position of the platform and the changes in the ocean environment, ensuring the smooth operation of the platform.

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