A mooring system, unmanned ship dock and method of use thereof

Abstract

The application relates to the technical field of ship berthing, and discloses a mooring system, an unmanned ship dock and an application method thereof, a carrying device, a floating power device and a traction device. The carrying device is arranged on the floating power device and floats on the water surface through the floating power device. The floating power device contains one-third to one-half of water, and is provided with a water suction and discharge assembly and a power assembly. The traction device is moored to the shore and is connected with the carrying device through a double-joint connecting rod. The traction device and the carrying device are hingedly connected, so that the carrying device can float up and down when the water level changes. The water suction and discharge assembly arranged on the floating power device can change the overall weight by adjusting the amount of ballast water, change the draft to keep the carrying device at the same position, ensure that the distance from the shore does not change and the carrying device does not touch the bottom.

Description

Technical Field

[0001] This invention relates to the field of ship mooring technology, and in particular to a mooring system, an unmanned vessel dock, and its application methods. Background Technology

[0002] Unmanned surface vessels (USVs) are fully automated vessels that do not require remote control and can navigate on the water surface according to preset mission information using precise satellite positioning and their own sensors. USVs can perform many tasks such as cargo transportation and exploration. Currently, most USVs are small and have a wide range of applications in marine exploration. Consequently, dock structures for automatically charging USVs are also emerging in large numbers.

[0003] An existing invention patent with publication number CN110667802B discloses an intelligent dock for unmanned vessels, a charging dock, and a dock control cabinet. The dock control cabinet is fixedly installed on a shore base and connected to a remote monitoring system. The charging dock is installed in the water, connected to the shore base, and connected to the dock control cabinet. The charging dock is used to receive docking signals sent by the unmanned vessel; after detecting that the unmanned vessel has reached its designated position, it charges the unmanned vessel and sends a hibernation command to the unmanned vessel to put it into a hibernation state; and after the unmanned vessel has finished charging, it sends a departure signal to the unmanned vessel. The dock control cabinet is used to control the charging dock to charge the unmanned vessel; and to receive the hibernation command and departure signal sent by the remote monitoring system and forward them to the charging dock.

[0004] As described in the above technical solution, a dock structure is provided in which the mooring mechanism is connected to the shore through two connecting rods. This structure achieves relative fixation between the dock platform and the shore. Although it can ensure the stability of the dock to a certain extent, it still has some shortcomings. For example, when the water level changes significantly, although the connecting rods are connected to the dock, they are prone to jamming. Secondly, when used in shallow waters, the dock is prone to touching the bottom when it moves down, which will affect the dock's attitude and thus affect normal ship berthing operations. Summary of the Invention

[0005] In view of this, the present invention proposes a stable mooring system, an unmanned vessel dock and its application method that can adaptively adjust the distance from the shore, in order to solve the problems of easy jamming of the connection structure and easy bottoming out in shallow water applications of existing docks.

[0006] The technical solution of this invention is implemented as follows:

[0007] On one hand, the present invention provides a mooring system, including a mounting device, a floating propulsion device, and a towing device, wherein,

[0008] The mounting device is mounted on a floating propulsion device and floats on the water surface via the floating propulsion device;

[0009] The floating propulsion device is filled with water at a capacity of one-third to one-half, and is equipped with a water intake and discharge assembly and a power assembly.

[0010] The towing device is moored on the shore and connected to the mounting device via a double-headed hinged link;

[0011] The mooring system has a first adjustment mode, a second adjustment mode, and an emergency adjustment mode. The mooring system adaptively selects the adjustment mode based on the water level and traction conditions.

[0012] When the mooring system is in the first adjustment mode, the floating propulsion device adjusts the buoyancy; when the mooring system is in the second adjustment mode, the towing device adjusts its own length to maintain the distance of the mounted device from the shore.

[0013] When the mooring system is in emergency adjustment mode, the floating propulsion unit uses the displacement of the power components to maintain the distance of the mounted equipment from the shore.

[0014] Based on the above technical solutions, preferably, the mounting device includes a main frame, a lifting mechanism, and a vision module, wherein,

[0015] The bottom of the main frame is an open structure, connected to two floating propulsion devices; the lifting mechanism is located inside the main frame and is used to lift the vessel.

[0016] The vision module is mounted on the main frame and is used to monitor the ship's attitude.

[0017] Based on the above technical solutions, preferably, the lifting mechanism includes a first lifting module, a second lifting module, and a positioning module, wherein,

[0018] The first lifting module and the second lifting module are installed inside the main frame, and the first lifting module is equipped with a positioning module.

[0019] The first lifting module is used to lift the bow, and the positioning module is used to position the bow.

[0020] The second lifting module is used to lift the stern.

[0021] Based on the above technical solutions, preferably, the first lifting module and the second lifting module have the same structure, both including a linear module and a carrier plate, and the positioning module includes a vertical plate, a corner plate, and a positioning push rod, wherein...

[0022] The linear modules are arranged in a rectangular array within the main frame, with a carrier plate connected to the movable end of every two linear modules.

[0023] Two uprights are provided on each carrier plate;

[0024] An angle plate is provided on one side of the two uprights facing each other, and a groove is provided on the inclined surface of the angle plate;

[0025] The positioning push rod is set on the upright plate, and the movable end of the positioning push rod passes through the upright plate and is located between the two upright plates.

[0026] Based on the above technical solutions, preferably, the traction device includes a bracket, a motor, a sliding sleeve, a rack, a driving gear, a driven gear, and a connecting rod, wherein...

[0027] The support frame is fixed to the shore, and a motor is installed on the support frame;

[0028] The sliding sleeve has a rack inside and a groove parallel to the rack, through which the motor's output shaft passes.

[0029] The drive gear is mounted on the output shaft of the motor;

[0030] The driven gear is located inside the sliding sleeve and is fixed relative to the sliding sleeve. Both the driving gear and the driven gear mesh with the rack.

[0031] One end of the connecting rod is hinged to the sliding sleeve, and the other end is hinged to the mounting device.

[0032] Based on the above technical solutions, preferably, the main frame includes a top panel, side panels, a bottom plate, and crossbeams, wherein,

[0033] Each side of the top panel has a side panel, which is a parallelogram structure.

[0034] Each of the two side panels, on the side furthest from the top panel, has a bottom plate, and the bottom plate is connected to the floating power device;

[0035] The crossbeam is connected to the two base plates and to the traction device;

[0036] The side panel away from the bottom plate, along with the top panel, is tilted toward the traction device.

[0037] On the other hand, the present invention provides a dock including the above-described mooring system.

[0038] Based on the above technical solutions, preferably, the mounting device includes an outer skin, a frame, and an inner skin, wherein,

[0039] The outer skin and the inner skin are positioned opposite each other;

[0040] The frame is positioned between the outer skin and the inner skin and is fixedly connected.

[0041] A cavity is formed between the outer skin and the inner skin.

[0042] Based on the above technical solutions, the preferred embodiment also includes a solar panel and a wireless charging base, wherein...

[0043] The solar panels are mounted on the top of the device;

[0044] The wireless charging pad is located inside the mounting device and is electrically connected to the solar panel.

[0045] Furthermore, the present invention provides a ship mooring method, which utilizes the aforementioned mooring system and includes the following steps:

[0046] S1. Install a towing device on the shore, and set the supporting device on the water surface using a floating propulsion device.

[0047] S2. Monitor water level and select the appropriate adjustment mode based on water level and traction conditions.

[0048] S3. When the water level changes, the first adjustment mode is activated, which controls the ballast water volume in the floating propulsion device through the water suction and discharge components to control the distance of the mounted device from the shore; or the second adjustment mode is activated, which extends and retracts the traction device to control the distance of the mounted device from the shore.

[0049] S4. The vessel enters the loading device;

[0050] In the event of a traction failure, the floating propulsion system controls the distance of the mounted device from the shore by displacing its power components.

[0051] The mooring system, unmanned vessel dock, and application method of the present invention have the following advantages over the prior art:

[0052] (1) By hinged to the traction device and the mounting device, the mounting device can float up and down when the water level changes. By setting a water suction and discharge component on the floating power device, the overall weight can be changed by adjusting the ballast water volume to adapt to floating or sinking, so that the mounting device is always in the same position, ensuring that the distance from the shore does not change and does not touch the bottom.

[0053] (2) By setting the towing device to be adjustable in length, it can extend itself when the water level rises or falls to ensure that the distance of the device from the shore does not change, thus facilitating the entry of the vessel; at the same time, it is also convenient to adjust the distance of the device from the shore to adapt to different application scenarios.

[0054] (3) By installing a power component on the floating power device, the power component can drive the carrying device and the floating power device to move when the towing device fails, so as to ensure the distance from the shore and avoid affecting the normal entry of the vessel.

[0055] (4) The bottom of the mounting device is an open structure and is equipped with a lifting mechanism. The lifting mechanism includes a first lifting module, a second lifting module and a positioning module. In this way, when lifting the ship, the first lifting module can contact the bow first, and then the position can be adjusted by the stern propeller, so as to ensure the stability of the attitude as much as possible. Then the second lifting module can lift the stern, which can ensure the stability of the mooring.

[0056] (5) The positioning module includes a vertical plate, a corner plate and a positioning push rod. After the ship is in position, the corner plate can be used to pre-limit the ship. Even after the first lifting module contacts the bottom of the ship, the ship's attitude can still be kept stable and there will be no capsizing problem. At the same time, the positioning push rod can further limit the ship to ensure stability.

[0057] (6) The main frame of the device has a parallelogram structure in its side view. This can shift the center of gravity toward the traction device to ensure the stability of the structure. At the same time, it leaves space at the front to avoid interfering with the equipment carried by the ship. Attached Figure Description

[0058] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0059] Figure 1 This is a perspective view of the mooring system of the present invention;

[0060] Figure 2 For the present invention Figure 1 Enlarged view of the structure at point A in the middle;

[0061] Figure 3 This is a front view of the mooring system of the present invention;

[0062] Figure 4 For the present invention Figure 3 Sectional view along the AA direction;

[0063] Figure 5 This is a side view of the mooring system of the present invention;

[0064] Figure 6 For the present invention Figure 5 Cross-sectional view along the BB direction;

[0065] Figure 7 This is a top view of the mooring system of the present invention;

[0066] Figure 8This is a perspective view of the mooring system of the present invention from another angle;

[0067] Figure 9 This is a schematic diagram of the first adjustment structure of the mooring system of the present invention;

[0068] Figure 10 This is a schematic diagram of the second adjustment structure of the mooring system of the present invention;

[0069] In the diagram: 1. Mounting device; 11. Main frame; 111. Top panel; 112. Side panel; 113. Base plate; 114. Crossbeam; 101. Outer skin; 102. Frame; 103. Inner skin; 12. Lifting mechanism; 121. First lifting module; 122. Second lifting module; 1211. Linear module; 1212. Carrier plate; 123. Positioning module; 1231. Vertical plate; 1232. Corner plate; 1233. Positioning push rod; 13. Vision module; 2. Floating power device; 3. Traction device; 31. Bracket; 32. Motor; 33. Sliding sleeve; 34. Rack; 35. Drive gear; 36. Driven gear; 37. Connecting rod; 301. Slide groove; 4. Solar panel; 5. Wireless charging base. Detailed Implementation

[0070] The technical solutions of the present invention will be clearly and completely described below with reference to the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0071] like Figures 1-8 As shown, the mooring system of the present invention includes a carrying device 1, a floating propulsion device 2, and a towing device 3;

[0072] The dock of the present invention includes the mooring system described above, and also includes a solar panel 4 and a wireless charging base 5.

[0073] like Figures 1-8As shown, the carrying device 1 is mounted on the floating propulsion device 2 and floats on the water surface through the floating propulsion device 2; the floating propulsion device 2 is filled with water at one-third to one-half capacity and is equipped with a water suction and discharge component and a power component; the towing device 3 is moored at the shore and connected to the carrying device 1 through a double-headed hinged connecting rod; the mooring system has a first adjustment mode, a second adjustment mode, and an emergency adjustment mode, and the mooring system adaptively selects the adjustment mode according to the water level and towing situation; when the mooring system is in the first adjustment mode, the floating propulsion device 2 adjusts its buoyancy; when the mooring system is in the second adjustment mode, the towing device 3 adjusts its own length to maintain the distance of the carrying device 1 from the shore; when the mooring system is in the emergency adjustment mode, the floating propulsion device 2 is displaced through the power component to maintain the distance of the carrying device 1 from the shore;

[0074] As described above, the floating propulsion device 2 is used to provide buoyancy so that the carrying device 1 floats on the water surface, thereby facilitating the carrying of the vessel; the towing device 3 is used to moor the carrying device to the shore to ensure the stability of the position of the carrying device 1.

[0075] like Figure 7 As shown, when the mooring system is in normal attitude, as indicated by the solid line, the towing device 3 is horizontal. Since the mounting device 1 and the towing device 3 are connected by a double-headed hinged connecting rod, the mounting device can adapt to the changes in water level by floating up or down. The dotted line structure in the figure shows the floating of the mounting device 1 when the water level rises.

[0076] Although the articulated structure can prevent damage to the connection due to water level issues, it also affects the distance of the mounting device 1 from the shore. That is, during high tide or low tide, this will make the mounting device 1 closer to the shore. Therefore, the mounting device 1 is specifically designed with multiple adjustment modes.

[0077] First adjustment mode:

[0078] Among them, the floating power device 2 has a built-in water volume of one-third to one-half and is equipped with a water suction and discharge component;

[0079] In this way, when the water level rises, the water suction and discharge components draw in water, increasing the weight and causing the mounting device 1 to descend. When the water level falls, the water is discharged, reducing the weight and causing the mounting device 1 to float. This ensures that the connecting rod is in a horizontal state, thereby ensuring the distance of the mounting device 1 from the shore and effectively preventing the mounting device 1 from running aground.

[0080] Specifically, the water intake and discharge components can be used as ballast tank components for conventional ships.

[0081] Second adjustment mode:

[0082] Among them, the traction device 3 can adjust its own length. As mentioned above, whether the horizontal plane rises or falls, it will cause the carrying device 1 to be closer to the shore. Therefore, the traction device 3 can be extended at this time to ensure the distance of the carrying device 1 from the shore.

[0083] In this structure, the tilt amplitude of the double-headed hinged link may increase during adjustment, but the buoyancy of the water on the mounting device 1 is constant. Therefore, after the mounting device 1 returns to its draft, the tilt amplitude of the double-headed hinged link will gradually return to normal.

[0084] Emergency Adjustment Mode:

[0085] The floating power device 2 is equipped with a power component, which is used in the event that the towing device 3 fails. At this time, the power component can be used to drive the floating power device 2 and the carrying device 1 to move, so as to adaptively adjust the distance from the shore and thus ensure that the vessel can be carried normally.

[0086] Specifically, the power unit uses the ship's propeller propulsion system.

[0087] In some embodiments, the floating propulsion device 2 is applied to the hull assembly.

[0088] like Figure 4 As shown, the mounting device 1 includes a main frame 11, a lifting mechanism 12, and a vision module 13. The bottom of the main frame 11 has an open structure and is connected to two floating power devices 2. The lifting mechanism 12 is installed inside the main frame 11 and is used to lift the vessel. The vision module 13 is installed on the main frame 11 and is used to monitor the vessel's attitude.

[0089] As described above, the main frame 11 forms a chamber for accommodating the vessel, and the bottom of the main frame 11 is open to facilitate the entry of the vessel.

[0090] When a vessel approaches, the vision module 13 detects the vessel's attitude, while the buoyancy propulsion device 2 controls the ballast water volume through the suction and discharge components to make the mounting device 1 float or descend, thereby better adapting to the vessel and ensuring that the vessel can enter normally.

[0091] Furthermore, by changing the length of the towing device 3, the position of the mounting device 1 is adjusted in real time to ensure that the vessel can enter normally;

[0092] If the towing device 3 fails, the mounting device 1 will adjust its position through the power component to ensure that the vessel can enter normally;

[0093] Specifically, vision module 13 uses an industrial camera to acquire the ship's attitude in real time.

[0094] In some embodiments, the above-described adjustment structures are adaptively adjusted for different types of vessels so that the vessels can enter the carrying device 1.

[0095] like Figure 1 and Figure 4 As shown, the lifting mechanism 12 includes a first lifting module 121, a second lifting module 122, and a positioning module 123. The first lifting module 121 and the second lifting module 122 are disposed within the main frame 11, and the positioning module 123 is disposed on the first lifting module 121. The first lifting module 121 is used to lift the bow, and the positioning module 123 is used to position the bow. The second lifting module 122 is used to lift the stern.

[0096] As described above, the mounting device 1 is equipped with a lifting mechanism 12, which includes a first lifting module 121, a second lifting module 122, and a positioning module 123. In this way, when lifting the ship, the first lifting module 121 can first contact the bow part, and then the position can be adjusted by the stern propeller, so as to ensure the stability of the attitude as much as possible. Then, the second lifting module 122 can lift the stern, which can ensure the stability of the mooring.

[0097] The positioning module 123 is used to assist in fixing the vessel. After the bow is mounted on the first lifting module 121, the vessel adjusts its attitude by using the propeller. When the position is correct, the positioning module 123 positions the vessel. Then the second lifting module 122 is raised until it is level with the first lifting module 121. At this time, the vessel is in a horizontal position. Finally, the first lifting module 121 and the second lifting module 122 work together to lift the vessel.

[0098] Specifically, the first lifting module 121 can be located on the inner or outer side, with the inner side being the side closer to the towing device 3. The specific choice depends on whether the vessel is moored facing forward or backward.

[0099] like Figure 6 As shown, the first lifting module 121 and the second lifting module 122 have the same structure, both including a linear module 1211 and a carrier plate 1212. The positioning module 123 includes a vertical plate 1231, a corner plate 1232, and a positioning push rod 1233. The linear modules 1211 are arranged in a rectangular array within the main frame 11, with each pair of linear modules 1211 connected to a carrier plate 1212 at their movable ends. Two vertical plates 1231 are provided on each carrier plate 1212. A corner plate 1232 is provided on one side of the two vertical plates 1231 facing each other, and a groove is provided on the inclined surface of the corner plate 1232. The positioning push rod 1233 is provided on the vertical plate 1231, and the movable end of the positioning push rod 1233 passes through the vertical plate 1231 and is located between the two vertical plates 1231.

[0100] As described above, both the first lifting module 121 and the second lifting module 122 are composed of a linear module 1211 and a carrier plate 1212. When lifting a ship, the carrier plate 1212 carries the ship, and then the linear module 1211 lifts the carrier plate 1212 and the ship.

[0101] Specifically, the linear module 1211 uses an electric actuator;

[0102] The positioning module 123 includes a vertical plate 1231, a corner plate 1232, and a positioning push rod 1233. After the vessel is in position, the corner plate 1232 can pre-limit the vessel, so even after the first lifting module 121 contacts the bottom of the vessel, the vessel's attitude can still be kept stable and there will be no capsizing problem. At the same time, the positioning push rod 1233 can further limit the vessel to ensure stability.

[0103] Specifically, the positioning push rod 1233 is an electric or pneumatic push rod with a top block installed at the end, so that the positioning push rods 1233 on both sides can clamp the boat.

[0104] In some embodiments, a positioning hole is provided on the side of the vessel, and the positioning push rod 1233 is inserted into the positioning hole to achieve vessel positioning.

[0105] like Figure 1 and Figure 4 As shown, the traction device 3 includes a bracket 31, a motor 32, a sliding sleeve 33, a rack 34, a drive gear 35, a driven gear 36, and a connecting rod 37. The bracket 31 is fixed to the shore, and the motor 32 is mounted on the bracket 31. The rack 34 is provided inside the sliding sleeve 33, and the sliding sleeve 33 is provided with a groove 301 parallel to the rack 34. The output shaft of the motor 32 passes through the groove 301. The drive gear 35 is disposed on the output shaft of the motor 32. The driven gear 36 is disposed inside the sliding sleeve 33 and fixed relative to the sliding sleeve 33. Both the drive gear 35 and the driven gear 36 mesh with the rack 34. One end of the connecting rod 37 is hinged to the sliding sleeve 33, and the other end is hinged to the mounting device 1.

[0106] As described above, the motor 32 is used to drive the drive gear 35 to rotate. The sliding sleeve 33 is provided with a rack 34 that meshes with the drive gear 35. The sliding sleeve 33 and the main shaft of the motor 32 are slidably engaged through the sliding groove 301. Therefore, when the drive gear 35 rotates, the rack 34, the sliding sleeve 33 and the connecting rod 37 will move synchronously, thereby pulling the mounting device 1 to move, and thus achieving its distance relative to the shore.

[0107] Link 37 is the aforementioned double-headed hinged link.

[0108] Furthermore, a driven gear 36 is provided inside the sliding sleeve 33. The driven gear 36 is fixed relative to the sliding sleeve 33 and cannot rotate. Thus, during adjustment, if the driving gear 35 comes into contact with the driven gear 36, it will be limited and cannot rotate, thereby avoiding over-adjustment that would cause the driving gear 35 to disengage from the rack 34.

[0109] Specifically, a clutch is provided between the output shaft of the motor 32 and the drive gear 35 to achieve safety protection. In this way, after the drive gear 35 meshes with the driven gear 36, the main shaft of the motor 32 can be disconnected from the drive gear 35, allowing the motor 32 to idle, thereby avoiding overload of the motor 32.

[0110] like Figure 7 As shown, under normal conditions, the connecting rod 37 is a parallel structure. However, after the water level rises, as shown by the dotted line, the connecting rod 37 tilts, and the distance between the front end of the mounting device 1 and the front end of the sliding sleeve 33 changes from A1 to A2. Thus, the mounting device 1 gets closer to the shore. At this time, water is pumped into the floating power device 2 through the suction and discharge assembly to increase the weight until the connecting rod 37 is horizontal, and the distance between the mounting device 1 and the shore is restored.

[0111] like Figure 8 As shown, under normal conditions, the connecting rod 37 is a parallel structure. However, after the water level rises, the connecting rod 37 tilts, and the distance between the front end of the mounting device 1 and the front end of the sliding sleeve 33 changes from A1 to A2. As a result, the mounting device 1 gets closer to the shore. The distance difference between A1 and A2 is A3. Therefore, at this time, the motor 32 drives the sliding sleeve 33, the connecting rod 37 and the mounting device 1 to move a distance of A3 through the drive gear 35, and the distance of the mounting device 1 from the shore is restored.

[0112] As the water level drops, the mounting device 1 will also move closer to the shore. At this time, the floating power device 2 will dissipate water, while the traction device 3 will continue to extend to achieve adjustment.

[0113] like Figure 1 As shown, the main frame 11 includes a top panel 111, side panels 112, a bottom plate 113, and a crossbeam 114. Each side panel 112 is provided on both sides of the top panel 111, and the side panels 112 have a parallelogram structure. Each of the two side panels 112 has a bottom plate 113 on the side away from the top panel 111, and the bottom plate 113 is connected to the floating power device 2. The crossbeam 114 is connected to the two bottom plates 113 and to the traction device 3. The side panels 112 away from the bottom plate 113, together with the top panel 111, are inclined towards the traction device 3.

[0114] As described above, the main frame 11 has a parallelogram-shaped structure when viewed from the side, which can shift the center of gravity toward the traction device 3 to ensure the stability of the structure.

[0115] At the same time, this structure also leaves space at the front to avoid interfering with the equipment carried by the ship when it enters; that is, after the ship enters the carrying device 1, equipment such as antennas are located on the side of the ship away from the towing device 3, and the inclined structure of the top panel 111 and the side panel 112 leaves space for taller equipment such as antennas, which can avoid interference during berthing.

[0116] like Figure 6 As shown, in the dock structure of the present invention, the mounting device 1 includes an outer skin 101, a frame 102 and an inner skin 103, wherein the outer skin 101 and the inner skin 103 are arranged opposite to each other; the frame 102 is disposed between the outer skin 101 and the inner skin 103 and is fixedly connected; an accommodating cavity is formed between the outer skin 101 and the inner skin 103.

[0117] As described above, the outer skin 101 and inner skin 103 of the mounting device 1 are connected by a frame 102 to ensure structural stability. At the same time, the space between the outer skin 101 and inner skin 103 forms a cavity, which can be used to install electrical control components, such as electrical cabinets and air pumps, to ensure that the moving parts of the dock can operate normally. This also simplifies the dock structure and makes it more compact.

[0118] like Figure 7 and Figure 8 As shown, the solar panel 4 is disposed on the upper part of the mounting device 1; the wireless charging base 5 is disposed on the inner side of the mounting device 1 and is electrically connected to the solar panel 4.

[0119] As described above, the solar panel 4 is used to power the wireless charging base 5 so that the wireless charging base 5 can charge the unmanned boat. This eliminates the need for wires to connect to the dock, simplifying the overall application structure.

[0120] Specifically, there are several electrical components such as an inverter between the solar panel 4 and the wireless charging base 5. This is a standard measure in the process of photovoltaic power generation and application, so it will not be described in detail.

[0121] like Figure 4 and Figure 5 As shown, the power components of the floating power device 2 are configured as a movable structure. The floating power device 2 serves as a float. To reduce travel resistance, its front end is inclined, which, together with the inclined structure of the mounting device 1, forms an arrow-shaped structure. This can reduce the travel components. At the same time, the mounting device 1 is inclined to the rear, which can further ensure the stability of the application.

[0122] Specifically, the rearward tilt of the mounting device 1 extends beyond the tail end of the floating propulsion device 2.

[0123] The ship mooring method of the present invention, using the above-described mooring system, includes the following steps:

[0124] S1. Install the towing device 3 on the shore, and place the carrying device 1 on the water surface via the floating propulsion device 2.

[0125] S2. Monitor water level and select the appropriate adjustment mode based on water level and traction conditions.

[0126] S3. When the water level changes, the first adjustment mode is activated, and the ballast water volume in the floating power device 2 is controlled through the water suction and discharge components to control the distance of the carrying device 1 from the shore; or the second adjustment mode is activated, and the traction device 3 extends and retracts to control the distance of the carrying device 1 from the shore.

[0127] S4. The vessel enters the loading device 1;

[0128] In the event of failure of the traction device 3, the floating power device 2 controls the distance of the carrying device 1 from the shore by displacing the power components.

[0129] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A mooring system, characterized in that: It includes a mounting device (1), a floating propulsion device (2), and a traction device (3), wherein, The mounting device (1) is mounted on the floating power device (2) and floats on the water surface through the floating power device (2); The floating power device (2) is filled with water at a capacity of one-third to one-half, and the floating power device (2) is equipped with a water suction and discharge assembly and a power assembly; The traction device (3) is moored on the shore and connected to the carrying device (1) via a double-headed hinged connecting rod; The mooring system has a first adjustment mode, a second adjustment mode, and an emergency adjustment mode. The mooring system adaptively selects the adjustment mode based on the water level and traction conditions. When the mooring system is in the first adjustment mode, the floating power device (2) adjusts the buoyancy. When the mooring system is in the second adjustment mode, the traction device (3) adjusts its own length to maintain the distance of the carrying device (1) from the shore. When the mooring system is in emergency adjustment mode, the floating power unit (2) moves by the displacement of the power components to maintain the distance of the mounted device (1) from the shore.

2. The mooring system as claimed in claim 1, characterized in that: The mounting device (1) includes a main frame (11), a lifting mechanism (12), and a vision module (13), wherein, The bottom of the main frame (11) is an open structure and is connected to two of the floating power devices (2). The lifting mechanism (12) is installed inside the main frame (11) and is used to lift the vessel; The vision module (13) is mounted on the main frame (11) and is used to monitor the ship's attitude.

3. The mooring system as described in claim 2, characterized in that: The lifting mechanism (12) includes a first lifting module (121), a second lifting module (122), and a positioning module (123), wherein, The first lifting module (121) and the second lifting module (122) are disposed inside the main frame (11), and the first lifting module (121) is provided with the positioning module (123). The first lifting module (121) is used to lift the bow, and the positioning module (123) is used to position the bow; The second lifting module (122) is used to lift the stern.

4. The mooring system as described in claim 3, characterized in that: The first lifting module (121) and the second lifting module (122) have the same structure, both including a linear module (1211) and a carrier plate (1212). The positioning module (123) includes a vertical plate (1231), a corner plate (1232), and a positioning push rod (1233). The linear modules (1211) are arranged in a rectangular array within the main frame (11), and each pair of linear modules (1211) is connected to a carrier plate (1212) at its movable end. Two of the upright plates (1231) are provided on each of the carrier plates (1212); An angle plate (1232) is provided on one side opposite to the two upright plates (1231), and a groove is provided on the inclined surface of the angle plate (1232); The positioning push rod (1233) is disposed on the upright plate (1231), and the movable end of the positioning push rod (1233) passes through the upright plate (1231) and is located between the two upright plates (1231).

5. The mooring system as claimed in claim 2, characterized in that: The traction device (3) includes a bracket (31), a motor (32), a sliding sleeve (33), a rack (34), a driving gear (35), a driven gear (36), and a connecting rod (37), wherein, The bracket (31) is fixed to the shore, and the motor (32) is installed on the bracket (31). The sliding sleeve (33) is provided with the rack (34) inside, and the sliding sleeve (33) is provided with a groove (301) parallel to the rack (34), and the output shaft of the motor (32) passes through the groove (301). The drive gear (35) is mounted on the output shaft of the motor (32); The driven gear (36) is disposed inside the sliding sleeve (33) and fixed relative to the sliding sleeve (33). Both the driving gear (35) and the driven gear (36) mesh with the rack (34). One end of the connecting rod (37) is hinged to the sliding sleeve (33), and the other end is hinged to the mounting device (1).

6. The mooring system as described in any one of claims 2 to 5, characterized in that: The main frame (11) includes a top panel (111), side panels (112), a bottom plate (113), and crossbeams (114), wherein, Each side panel (112) is provided on both sides of the top panel (111), and the side panel (112) has a parallelogram structure; Each of the two side panels (112) away from the top panel (111) is provided with a bottom plate (113), and the bottom plate (113) is connected to the floating power device (2); The crossbeam (114) is connected to the two base plates (113) and to the traction device (3); The side panel (112) away from the bottom plate (113) and the top panel (111) are inclined toward the traction device (3).

7. A dock, characterized in that: Including the mooring system as described in any one of claims 1 to 6.

8. The dock as described in claim 7, characterized in that: The mounting device (1) includes an outer skin (101), a frame (102), and an inner skin (103), wherein, The outer skin (101) and the inner skin (103) are arranged opposite to each other, and the skeleton (102) is arranged between the outer skin (101) and the inner skin (103) and fixedly connected. A cavity is formed between the outer skin (101) and the inner skin (103).

9. The dock as described in claim 8, characterized in that: It also includes a solar panel (4) and a wireless charging dock (5), wherein, The solar panel (4) is disposed on the upper part of the mounting device (1); The wireless charging dock (5) is located inside the mounting device (1) and is electrically connected to the solar panel (4).

10. A method for mooring a ship, using the mooring system as described in any one of claims 1 to 6, characterized in that, Includes the following steps: S1. Install the towing device (3) on the shore, and place the carrying device (1) on the water surface via the floating power device (2). S2. Monitor water level and select the appropriate adjustment mode based on water level and traction conditions. S3. When the water level changes, the first adjustment mode is activated, and the ballast water volume in the floating power device (2) is controlled through the water suction and discharge components to control the distance of the carrying device (1) from the shore; or the second adjustment mode is activated, and the traction device (3) extends and retracts to control the distance of the carrying device (1) from the shore. S4. The vessel enters the carrying device (1); When the traction device (3) fails, the floating power device (2) controls the distance of the carrying device (1) from the shore by displacing the power component.

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