An unmanned ship mooring fixture and method of use thereof

Abstract

The application relates to the technical field of unmanned ship parking, and discloses an unmanned ship parking fixing device and a use method thereof, which comprise a parking platform, a grating door, a vertical seat, a dock hatch, a butt joint plate and an electromagnetic adsorption module. The intelligent dock provides temporary parking fixing for the unmanned ship. The docking processing mechanism comprises a stepping motor one and a fan-shaped rail. The stepping motor one is fixedly installed at the top end of the hinged shaft of the grating door. The fan-shaped rail is fixedly connected to the bottom of the parking platform. The bottom of the end, away from the hinged shaft, of the grating door is fixedly connected with a right-angle rod. The outer wall of the right-angle rod is slidably connected to the middle part of the inner wall of the fan-shaped rail. The sundries are intercepted outside the dock in advance, so that the sundries are not brought into the dock when the unmanned ship enters the dock, a clean entering environment is created for the entrance area of the parking platform, the smoothness of the contact between the ship body and the inner wall of the parking platform is ensured, the stable parking of the unmanned ship is ensured, and the stability of the docking and charging of the unmanned ship and the electromagnetic adsorption module is ensured.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of unmanned ship parking, more particularly, it relates to an unmanned ship parking fixing device and a method thereof. BACKGROUND

[0002] The unmanned ship is a kind of full-automatic water robot that can navigate on the water surface according to the preset task without remote control, with the help of precise satellite positioning and its own sensing. At present, the docking of the unmanned ship usually uses the dock to assist the recovery and charging of the unmanned ship, and to ensure the subsequent continuous operation of the unmanned ship.

[0003] In the prior art, the dock is usually used to provide parking and fixing for the unmanned ship. The core function of the parking platform in the dock is to realize the precise fixing and energy supply of the unmanned ship. However, if the floating debris on the water surface is brought into the parking platform during the entry of the unmanned ship, the flexible long strip debris such as fishing nets, waterweeds, dry branches and plastic ropes can be easily stuck in the guide rail gap of the parking platform, causing the unmanned ship to be stuck during sliding along the guide rail, or even deviating from the preset parking path, failing to be positioned accurately, and if the debris is attached to the charging interface, an insulation layer or contact resistance is formed, causing poor contact of the charging circuit, which may result in a sharp drop in charging efficiency, or even triggering the overcurrent protection of the charging system, directly interrupting the charging. SUMMARY

[0004] The present application provides an unmanned ship parking fixing device and a method thereof, which solves the technical problems of interference with parking and positioning caused by the floating debris on the water surface brought into the parking platform during the entry of the unmanned ship, and poor contact of the charging circuit.

[0005] The present application provides an unmanned ship parking fixing device, comprising:

[0006] The parking platform, the grating door, the stand, the dock hatch, the docking plate and the electromagnetic adsorption module provide temporary parking and fixing for the unmanned ship through the intelligent dock.

[0007] The dock processing mechanism comprises a stepping motor one and a fan-shaped rail, the stepping motor one is fixedly installed at the top end of the hinge shaft of the grating door, the fan-shaped rail is fixedly connected to the bottom of the parking platform, the bottom of the end of the grating door away from the hinge shaft is fixedly connected with a right-angle rod, the outer wall of the right-angle rod is slidably connected to the middle part of the inner wall of the fan-shaped rail, the rotation of the grating door is triggered by the signal of the unmanned ship entering the dock, and the water surface debris at the entrance of the dock is processed before the entry of the unmanned ship.

[0008] The parking support mechanism comprises a worm and a worm wheel, the worm is fixedly sleeved on the outer wall of the hinge shaft of the grid door, the worm wheel is rotationally connected inside the parking platform and is in meshing connection with the worm, the outer wall of the electromagnetic adsorption module is hingedly provided with a hinge frame on both sides, the middle part of the two sides of the parking platform is provided with a rectangular hole, the inner wall of the rectangular hole on both sides is slidably connected with a U-shaped hanging plate, the end of the hinge frame away from the docking plate is hingedly arranged in the middle part of the U-shaped hanging plate, and the rotation opening of the synchronous grid door triggers the extension of the hinge frame when the unmanned ship enters, so that support is formed for the parking of the unmanned ship.

[0009] The pre-processing mechanism comprises a step motor two and a bidirectional screw rod, the bidirectional screw rod is fixedly connected to the driving end of the step motor two, the step motor two is fixedly installed on the outer wall of the stand, the bidirectional screw rod is rotationally connected to the middle part of the stand, and the outer walls at both ends are fixedly connected with the dock door, the step motor two is controlled by the signal of the unmanned ship entering and leaving the dock to drive the bidirectional screw rod to rotate, so that the dock door is opened and closed and rotates on the top of the stand.

[0010] As a further optimization scheme of the application, the docking processing mechanism further comprises:

[0011] A bearing, the inner race of the bearing is fixedly installed on the outer wall of the end of the right-angle rod away from the grid door, the outer race of the bearing is fixedly installed with a gear, the bottom of the sector rail is uniformly provided with a plurality of teeth, the gear rotates along the track of the sector rail and is in meshing connection with the teeth, and the gear is connected with a comb roller on the side face away from the right-angle rod.

[0012] As a further optimization scheme of the application, the parking support mechanism further comprises:

[0013] A screw rod, fixedly connected to the middle part of the worm wheel and rotationally connected to the inside of the rectangular hole on one side, one end of the U-shaped hanging plate is threadedly connected to the outer wall of the screw rod, the middle part of the rectangular hole on the other side is fixedly connected with a guide rod, and the other end of the U-shaped hanging plate is slidably connected to the outer wall of the guide rod.

[0014] As a further optimization scheme of the application, the bottom of the U-shaped hanging plate is fixedly connected with a wave plate, the bottom of the parking platform is fixedly connected with a collection frame on the inside of the sector rail, and the inner wall of the collection frame is provided with a partition plate below.

[0015] As a further optimization scheme of the application, the middle part of the collection frame on both sides is fixedly connected with a fixed nut, the middle part of the fixed nut on both sides is threadedly connected with a bolt, the middle part of the partition plate on both sides is provided with a threaded hole, and the opposite ends of the bolts on both sides are respectively threadedly connected to the inner walls of the threaded holes.

[0016] As a further optimization scheme of the application, the pre-processing mechanism further comprises:

[0017] A pair of movable sleeves are respectively threadedly connected on the two sides of the outer wall of the bidirectional screw rod, spring rods are hingedly arranged at the bottom of the two movable sleeves, and collars are hingedly arranged at the bottom end of the two spring rods.

[0018] As a further optimization scheme of the present application, the two collars are sleeved on the outer wall of the limiting rod, and nylon rollers are fixedly connected to the bottom of the two collars.

[0019] As a further optimization scheme of the present application, sliding block seats are fixedly installed on the upper and lower sides of the end of the parking platform away from the grating door, guide frames are slidingly connected to the middle portions of the two sides of the sliding block seats, the guide frames are connected to the sliding block seats through connecting springs, one end of the guide frame away from the sliding block seat is hingedly connected to the inner side surface of the docking plate, a control module is fixedly installed on the inner wall of the guardrail of the parking platform, and the control module is electrically connected between the electromagnetic adsorption module, the first stepper motor and the second stepper motor.

[0020] As a further optimization scheme of the present application, the grating door is rotationally connected to the middle portion of the front side of the parking platform, the stand is fixedly installed on the top of the parking platform close to the electromagnetic adsorption module, the docking plate is slidingly connected to the inner wall of the parking platform, and the electromagnetic adsorption module is fixedly installed on the middle portion of the outer side surface of the docking plate.

[0021] As a further optimization scheme of the present application, a method for parking and fixing an unmanned ship is applied to an unmanned ship parking and fixing device, and comprises the following steps:

[0022] Step one: after the intelligent dock is selected as a mooring position, steel piles are driven below the water system position, the dock is erected on the top end of the steel piles, and positioning is adjusted in cooperation with anchor chains; when the unmanned ship is running out of power, the radar signal in the dock is used to control the unmanned ship to return to the dock; after receiving the signal that the unmanned ship is approaching and entering, the control module controls the first stepper motor to operate to drive the grating door to rotate outward and open; in this process, the grating door drives the gear to rotate by ninety degrees along the arc-shaped track of the sector-shaped rail through the straight rod and the bearing, and the gear rotates at the bottom of the sector-shaped rail under the meshing transmission of the teeth to drive the comb tooth roller to move and rotate in the sector-shaped area of the sector-shaped rail, so as to wind and take away the flexible long strip-shaped debris floating on the water surface at the entrance area of the unmanned ship, thereby ensuring that there is no debris interference in the path of the entrance area when the unmanned ship enters the parking platform.

[0023] Step two: after the unmanned ship enters, the front end of the charging interface is attracted to the electromagnetic attraction module, and energy supply is carried out. During the docking process, the impact force generated by the contact of the unmanned ship with the docking plate is transmitted to the connecting spring through the sliding block seat on both sides, so that the connecting spring is deformed to buffer the impact force.

[0024] Step three: during the docking and charging process of the unmanned ship into the dock, under the control of the entering signal, the step motor two drives the bidirectional screw rod to rotate forward, and under the cooperation of the spring rod, the limiting rod and the ring, the two sides of the nylon roller move reversely through the movable sleeve, move from the original position close to the center of the electromagnetic attraction module to both sides, and clean the outer wall of the electromagnetic attraction module in the moving path.

[0025] Step four: after the unmanned ship enters the charging, the control module controls the step motor one to rotate reversely to drive the grid door to close, locks the unmanned ship parking area, and in this process, the worm drives the worm gear to rotate through the outer wall of the grid door hinge shaft, so that the screw rod fixedly connected with the worm gear rotates in the inside of the rectangular hole, and under the cooperation of the guide rod in the other side of the rectangular hole, the two ends of the U-shaped hanging plate move along the inner wall of the two sides of the rectangular hole to the direction of the grid door, drive the two groups of hinged frames to extend and unfold, and form support for the bottom of the unmanned ship underwater.

[0026] Step five: along with the movement of the U-shaped hanging plate, the wave plate moves to the side of the grid door to move close to the garbage on the unfolding path of the two hinged frames, and the wave plate can push the garbage to the inside of the collection frame, so that the unfolding path of the hinged frame is smooth.

[0027] Step six: after the energy supply of the unmanned ship ends, the exit signal is sent, the step motor one and the step motor two are controlled reversely by the control module, the grid door and the dock door are reversely rotated and opened, and the unmanned ship is released from the restriction and fixed to drive out of the parking platform.

[0028] The beneficial effects of the application are:

[0029] The unmanned ship parking fixing device provided by the application is controlled by the unmanned ship entering the dock signal, the grid door is rotated and opened to prepare for the ship body to enter the dock, and during the rotation and opening process of the grid door, the comb tooth roller moves along the fan-shaped track, and under the cooperation of the bearing and the plurality of teeth fixed at the bottom of the fan-shaped track, the gear rotates at the bottom of the fan-shaped track, drives the comb tooth roller to rotate and cover the area near the waterline of the unmanned ship along the surrounding area of the fan-shaped track, and when rotating, the flexible long strip-shaped garbage floating on the water surface of the dock entrance area is hooked through the gear gap, so that the garbage is intercepted outside the dock in advance, avoids that the garbage is brought into the dock when the unmanned ship enters the dock, causes the ship body to be stuck with the inner wall of the parking platform, affects the parking and fixing of the unmanned ship, and ensures the stability of the docking and charging of the unmanned ship after entering the dock.

[0030] 2、The unmanned ship parking fixing device, after the unmanned ship drives into the end of the dock, the interface is attracted to the electromagnetic adsorption module to charge, the grille door is controlled to rotate reversely to close, the unmanned ship in the parking platform is positioned and fixed, in the rotating process, the screw rod is rotated in the inside of the one side rectangular hole through the worm gear transmission, and the U-shaped hanging plate moves to the side of the grille door under the cooperation of the guide rod in the other side rectangular hole, in the process, the two groups of hinged frames are extended to cover the parking position of the unmanned ship, the bottom of the unmanned ship is supported to avoid the impact of the water wave fluctuation to cause the ship body to sway, the front and back position limiting of the grille door and the bottom support of the hinged frame form the three-dimensional protection, the surge is prevented from causing the ship body to collide with the parking platform or the bottom to hit and damage the equipment, the electromagnetic adsorption module is stably connected due to the surge of the ship body, and the charging interruption or the interface wear is avoided.

[0031] 3、The unmanned ship parking fixing device, when the unmanned ship drives out of the dock, the dock door is controlled to rotate upward and open under the driving out signal, the rotating force is transmitted through the bidirectional screw rod, and then the two sides of the nylon roller are driven to move to the center of the electromagnetic adsorption module from the original two end positions in the process, the sundries attached to the outer wall are wiped and cleaned, the insulating layer or the docking obstruction is avoided, correspondingly, the electromagnetic adsorption module is cleaned again when the unmanned ship drives in, and is moved to the inner wall of the dock door, space is left for the unmanned ship to drive in, the stability of the circuit contact is ensured when the unmanned ship is connected with the electromagnetic adsorption module to charge, the cleaning action is synchronized with the process that the unmanned ship drives in and out of the dock, the module failure caused by the untimely manual cleaning is solved, and the maintenance pressure is reduced. BRIEF DESCRIPTION OF DRAWINGS

[0032] Figure 1 The three-dimensional schematic view of the parking state of the unmanned ship is provided for the present application.

[0033] Figure 2 The bottom structure schematic view of the parking platform is provided for the present application.

[0034] Figure 3 The bottom structure schematic view of the parking platform is provided for the present application.

[0035] Figure 4 The three-dimensional schematic view of the parking state of the unmanned ship is provided for the present application. Figure 3 The three-dimensional schematic view of the parking state of the unmanned ship is provided for the present application.

[0036] Figure 5 The three-dimensional schematic view of the parking state of the unmanned ship is provided for the present application.

[0037] Figure 6 The three-dimensional schematic view of the parking state of the unmanned ship is provided for the present application.

[0038] Figure 7The internal structure of the parking platform according to the present application is shown in the schematic view.

[0039] Figure 8 The overall structure of the parking platform according to the present application is shown in the schematic side view.

[0040] Figure 9 The bottom support state of the parking platform according to the present application is shown in the schematic view.

[0041] Figure 10 The partial structure of the collection frame according to the present application is shown in the schematic view.

[0042] Figure 11 The Figure 10 The enlarged view at B.

[0043] Figure 12 The vertical half-section view of the parking platform according to the present application is shown in the schematic view.

[0044] Figure 13 The Figure 12 The enlarged view at C.

[0045] In the figure:

[0046] 1, parking platform; 2, grating door; 3, stand; 4, dock hatch; 5, butt joint plate; 6, electromagnetic adsorption module; 7, docking processing mechanism; 701, stepper motor one; 702, fan-shaped rail; 703, right-angle rod; 704, bearing; 705, gear; 706, gear tooth; 707, comb roller; 8, parking support mechanism; 801, worm; 802, worm wheel; 803, screw rod; 804, rectangular hole; 805, U-shaped hanging plate; 806, hinged frame; 807, wave plate; 808, collection frame; 809, partition; 810, fixed nut; 811, bolt; 812, threaded hole; 813, guide rod; 9, pre-processing mechanism; 901, stepper motor two; 902, bidirectional screw rod; 903, movable sleeve; 904, spring rod; 905, limiting rod; 906, collar; 907, nylon roller; 10, sliding block seat; 11, guide frame; 12, connecting spring; 13, control module. DETAILED DESCRIPTION

[0047] The subject matter described herein will now be discussed with reference to example implementations. It should be understood that the discussion of these implementations is merely meant to provide a better understanding of the subject matter described herein and can be changed in function and arrangement without departing from the scope of the present description. Various processes or components can be omitted, substituted, or added according to desired implementations. Additionally, features described with respect to some examples can be combined in other examples.

[0048] As Figures 1 to 13As shown, the unmanned ship parking fixing device provided by the embodiment of the application comprises:

[0049] The parking platform 1, the grating door 2, the pedestal 3, the dock hatch 4, the butt plate 5 and the electromagnetic adsorption module 6 provide temporary parking and fixing for the unmanned ship through the intelligent dock.

[0050] The docking processing mechanism 7 comprises a stepper motor one 701 and a fan-shaped rail 702. The stepper motor one 701 is fixedly installed at the top end of the hinge shaft of the grating door 2. The fan-shaped rail 702 is fixedly connected to the bottom of the parking platform 1. The center of the fan-shaped rail 702 is on the same straight line as the center of the grating door 2. The bottom of the end of the grating door 2 away from the hinge shaft is fixedly connected with a right-angle rod 703. The outer wall of the right-angle rod 703 is slidingly connected to the middle part of the inner wall of the fan-shaped rail 702. The rotation of the grating door 2 is triggered by the signal of the unmanned ship docking, and the water surface debris at the docking entrance is processed before docking.

[0051] The parking support mechanism 8 comprises a worm 801 and a worm wheel 802. The worm 801 is fixedly sleeved on the outer wall of the hinge shaft of the grating door 2. The worm wheel 802 is rotatably connected to the inside of the parking platform 1 and is in meshing connection with the worm 801. The outer wall of the electromagnetic adsorption module 6 is hingedly provided with a hinge frame 806 on both sides. Rectangular holes 804 are formed in the middle of both sides of the parking platform 1. U-shaped hangers 805 are slidingly connected to the inner walls of the rectangular holes 804. The ends of the hinge frames 806 away from the butt plate 5 are hingedly arranged in the middle of the U-shaped hangers 805. The extension of the hinge frames 806 is triggered by the rotation of the grating door 2 when the unmanned ship enters, so as to form support for the parking of the unmanned ship.

[0052] The front processing mechanism 9 comprises a stepper motor two 901 and a bidirectional screw rod 902. The bidirectional screw rod 902 is fixedly connected to the driving end of the stepper motor two 901. The stepper motor two 901 drives the bidirectional screw rod 902 to rotate to provide opening and closing rotation power for the dock hatch 4 on the top of the pedestal 3. The stepper motor two 901 is fixedly installed on the outer wall of the pedestal 3. The bidirectional screw rod 902 is rotatably connected to the middle part of the pedestal 3, and the outer walls of both ends are fixedly connected with the dock hatch 4. The stepper motor two 901 drives the bidirectional screw rod 902 to rotate under the control of the signal of the unmanned ship entering and leaving the dock, so that the dock hatch 4 opens and closes rotation on the top of the pedestal 3.

[0053] The parking platform 1 has slider seats 10 fixedly installed on both the upper and lower sides of the end away from the grille door 2. Guide frames 11 are slidably connected to the middle of both sides of the slider seats 10. The guide frames 11 are connected to the slider seats 10 through connecting springs 12. The end of the guide frame 11 away from the slider seats 10 is hinged to the inner side of the docking plate 5. A control module 13 is fixedly installed on the inner wall of the guardrail of the parking platform 1. The control module 13 is electrically connected to the electromagnetic adsorption module 6, stepper motor 701 and stepper motor 901. The grille door 2 is rotatably connected to the middle of the front side of the parking platform 1. The stand 3 is fixedly installed on the top of the parking platform 1 near the electromagnetic adsorption module 6. The docking plate 5 is slidably connected to the inner wall of the parking platform 1. The electromagnetic adsorption module 6 is fixedly installed on the middle of the outer side of the docking plate 5.

[0054] It should be noted that when the unmanned vessel runs for too long and its battery is insufficient, it sends a return signal to the docking platform 1 via radar signal transmission and returns to the docking platform 1. When the unmanned vessel returns and moves close to the docking platform 1, the control module 13 receives the signal and controls the stepper motor 701 to drive the grille door 2 to rotate outward and open. The rotation trajectory of the grille door 2 matches the arc surface of the fan-shaped rail 702, and then the grille door 2 drives the right-angle rod 703 to move along the inner wall of the fan-shaped rail 702.

[0055] After the unmanned vessel enters the docking platform 1, the charging interface at the end of the hull connects with the electromagnetic adsorption module 6 for charging. During this process, the impact force generated when the hull contacts the docking plate 5 acts on the hinged guide frame 11. The guide frame 11 moves along the middle of the upper and lower slider seats 10, transmitting the force to the connecting spring 12 to cause it to deform, thus buffering and dispersing the impact force and preventing the electromagnetic adsorption module 6 from being damaged by the impact. Correspondingly, after the unmanned vessel leaves the docking platform 1, the docking plate 5 can move in the opposite direction and reset under the action of the accumulated elastic potential energy of the connecting spring 12.

[0056] like Figure 4 As shown, the docking processing mechanism 7 also includes:

[0057] Bearing 704, the inner steel ring of bearing 704 is fixedly installed on the outer wall of the right angle rod 703 away from the grille door 2, the outer steel ring of bearing 704 is fixedly installed with gear 705, the bottom of the sector rail 702 is evenly provided with several teeth 706, the gear 705 rotates along the track of the sector rail 702 and meshes with the teeth 706 in pairs, and a comb roller 707 is snapped on the side of gear 705 away from the right angle rod 703;

[0058] It should be noted that, with the grid door 2 driven straight pole 703 along the inner wall of the sector rail 702, under the cooperation of bearing 704 and gear teeth 706, the gear 705 set outside the steel ring can engage the rotating bottom of the sector rail 702, drive the comb roller 707 to move in the entrance area of the berth 1 while rotating, and through the gear gap, the flexible long strip of floating debris on the water surface in the entrance area of the dock is hooked, and the debris is intercepted outside the dock in advance, avoiding the unmanned ship entering the dock and bringing the debris, causing the ship body to contact and jam with the inner wall of the berth 1, affecting the parking and fixing of the unmanned ship, and ensuring the stability of the unmanned ship docking and docking with the electromagnetic attraction module 6.

[0059] As shown in Figure 3 、 Figure 9 and Figure 12 , the parking support mechanism 8 further comprises:

[0060] The screw rod 803 is fixedly connected to the middle part of the worm gear 802 and rotatably connected to the inside of the one side rectangular hole 804. The U-shaped hanger plate 805 is threadedly connected to the middle part of the outer wall of the screw rod 803 at one end. The other side rectangular hole 804 is fixedly connected with a guide rod 813 in the middle part. The other end of the U-shaped hanger plate 805 is slidably connected to the outer wall of the guide rod 813. The bottom of the U-shaped hanger plate 805 is fixedly connected with a wave plate 807. The bottom of the berth 1 located inside the sector rail 702 is fixedly connected with a collection frame 808. The inner wall of the collection frame 808 is provided with a partition plate 809 below. The two sides of the collection frame 808 are fixedly connected with fixed nuts 810 in the middle part. The middle part of the two fixed nuts 810 is threadedly connected with a bolt 811. The two sides of the partition plate 809 are provided with a threaded hole 812 in the middle part. The opposite ends of the two bolts 811 are threadedly connected to the inner walls of the two threaded holes 812, respectively.

[0061] It needs to be explained that the worm 801 rotates synchronously with the rotation opening of the grille door 2, and the rotation force is applied to the worm gear 802, which further drives the screw rod 803 to rotate inside the rectangular hole 804 on one side, and under the guidance of the guide rod 813 in the rectangular hole 804 on the other side, the U-shaped hanging plate 805 moves along the inner wall of the two rectangular holes 804 towards one side of the grille door 2, one side of the hinged frame 806 is hinged in the middle of the docking plate 5, and in the process of unmanned ship charging docking, it is in a state of abutting and fixing, the other end of the hinged frame 806 is hinged and connected with the U-shaped hanging plate 805, and with the movement of the U-shaped hanging plate 805, it gradually extends from the original contracted state, covers the bottom of the unmanned ship parking area directly below, supports the bottom of the unmanned ship, avoids the impact of water wave fluctuation, prevents the ship body from shaking, forms a three-dimensional protection through the front and rear limiting of the grille door 2 and the bottom support of the hinged frame 806, prevents the ship body from colliding with the parking platform 1 or the bottom from impacting and damaging the equipment, ensures the stable docking of the electromagnetic attraction module 6 due to the absence of wave fluctuation of the ship body, and avoids the interruption of charging or the wear of the interface;

[0062] At the same time, with the movement of the U-shaped hanging plate 805, the wave plate 807 arranged at the bottom thereof moves synchronously, and the extension path of the two hinged frames 806 corresponds to the pushing of floating debris before extension, and when the U-shaped hanging plate 805 moves to the position, the wave plate 807 contacts the collection frame 808, and the pushed garbage is collected in the collection frame 808, creating an interference-free environment for the extension path of the two hinged frames 806, avoiding obstruction during extension;

[0063] For the garbage collected in the collection frame 808, the staff can unscrew the two side bolts 811 from the middle of the fixed nut 810 in reverse during regular maintenance, unlock the partition plate 809, and then pull out the partition plate 809 from the middle of the collection frame 808, so as to process the garbage from the lower outlet.

[0064] As shown in Figure 13 , the pre-processing mechanism 9 further comprises:

[0065] A pair of movable sleeves 903, two movable sleeves 903 are respectively threadedly connected on the outer walls of the two sides of the double-headed screw rod 902, the bottoms of the two movable sleeves 903 are hingedly provided with spring rods 904, the bottom ends of the two spring rods 904 are hingedly provided with sleeve rings 906, the middle of the two vertical seats 3 is fixedly connected with a limiting rod 905 below the double-headed screw rod 902, the sleeve rings 906 are sleeved on the outer walls of the limiting rods 905, the bottoms of the two sleeve rings 906 are fixedly connected with nylon rollers 907, and the outer walls of the two nylon rollers 907 are located on the same straight line as the outer sides of the electromagnetic attraction module 6;

[0066] It needs to be explained that under the control of the unmanned ship entering and exiting the dock signal, the step motor two 901 drives the bidirectional screw rod 902 to rotate forward and backward, with the assistance of the limiting rod 905, the two sides of the movable sleeve 903 move away from / close to along the outer wall of the bidirectional screw rod 902, and through the spring rod 904 and the sleeve ring 906, the nylon roller 907 moves away from / close to along the outer wall of the electromagnetic adsorption module 6 synchronously, wipes and cleans the sundries attached to the outer wall of the electromagnetic adsorption module 6, avoids the sundries from forming an insulating layer to cover the outer wall of the electromagnetic adsorption module 6 to hinder the docking, and when the unmanned ship enters the dock, the two sides of the nylon roller 907 move reversely to the inner wall of the dock door 4 on both sides to leave space for the unmanned ship to enter, and ensures the stability of the circuit contact when the unmanned ship docks with the electromagnetic adsorption module 6 for charging;

[0067] When the unmanned ship exits the parking platform 1, the force originally applied to the docking plate 5 disappears, the docking plate 5 moves to the side close to the grille door 2, and in this process, it will contact the two sides of the nylon roller 907, and the two sides of the nylon roller 907 rotate ninety degrees to a horizontal state with the assistance of the spring rod 904 and the sleeve ring 906, to ensure the stable resetting of the docking plate 5.

[0068] An unmanned ship parking and fixing method is applied to an unmanned ship parking and fixing device, including the following steps:

[0069] Step one: after the intelligent dock is selected and moored, steel piles are driven below the water system position, the dock is erected on the top of the steel piles, and the positioning is adjusted with anchor chains. When the endurance power of the unmanned ship is insufficient, the radar signal in the dock controls the unmanned ship to return to the dock. After receiving the signal that the unmanned ship approaches and enters, the control module 13 controls the step motor one 701 to operate to drive the grille door 2 to rotate outward and open. In this process, the grille door 2 drives the gear 705 to rotate ninety degrees along the arc trajectory of the sector rail 702 through the right-angle rod 703 and the bearing 704, and at the same time, the gear 705 rotates at the bottom of the sector rail 702 through the meshing transmission of the gear teeth 706, drives the comb roller 707 to move and rotate in the sector area inside the sector rail 702, winds and takes away the flexible long strip sundries floating on the water surface in the entrance area of the unmanned ship, and ensures that there is no sundry interference in the path of the entrance area when the unmanned ship enters the parking platform 1;

[0070] Step two: after the unmanned ship enters, the charging interface at the front end thereof is attracted to the electromagnetic adsorption module 6 for energy supply. During the docking process, the impact force generated when the unmanned ship contacts the docking plate 5 is transmitted to the connecting spring 12 through the slider block 10 of the two sides of the guide frame 11, so that the connecting spring 12 deforms to buffer the impact force;

[0071] Step three: in the process of unmanned ship docking and charging, the step motor two 901 drives the bidirectional screw rod 902 to rotate forward, and the two sides of the nylon roller 907 move reversely through the movable sleeve 903 under the cooperation of the spring rod 904, the limiting rod 905 and the sleeve ring 906, and move from the original close position to the center of the electromagnetic adsorption module 6 to the two sides, and clean the outer wall of the electromagnetic adsorption module 6 in the moving path;

[0072] Step four: after the unmanned ship docks and charges, the control module 13 controls the step motor one 701 to drive the grille door 2 to rotate and close, locks the unmanned ship parking area, and in this process, the worm 801 drives the worm gear 802 to rotate through the outer wall of the hinge shaft of the grille door 2, so that the screw rod 803 fixedly connected with the worm gear 802 rotates in the inside of the rectangular hole 804, and under the cooperation of the guide rod 813 in the other side of the rectangular hole 804, the two ends of the U-shaped hanging plate 805 move along the inner wall of the two sides of the rectangular hole 804 to the direction of the grille door 2, drive the two groups of hinge frames 806 to extend and unfold, and form support for the bottom of the unmanned ship underwater;

[0073] Step five: along with the movement of the U-shaped hanging plate 805, the wave plate 807 moves to the side of the grille door 2, pushes the sundries on the unfolding path of the two hinge frames 806, and the wave plate 807 can push the sundries to the inside of the collection frame 808 when the two hinge frames 806 are extended in place, so as to ensure the smoothness of the extension path of the hinge frame 806;

[0074] Step six: after the unmanned ship sends out the signal to drive out after the energy supply is completed, the control module 13 controls the step motor one 701 and the step motor two 901 to operate reversely, so that the grille door 2 and the dock door 4 rotate reversely and open, and the unmanned ship is released from the restriction and fixed to drive out of the parking platform 1.

[0075] Working principle: first, when the unmanned ship runs for a long time and the power is insufficient, the return signal is sent to the parking platform 1 through the radar signal transmission and returns to the parking platform 1, when the unmanned ship returns and moves close to the parking platform 1, the control module 13 receives the signal and controls the step motor one 701 to drive the grille door 2 to rotate and open outward, the rotation track of the grille door 2 matches the arc surface of the fan-shaped rail 702, and then the grille door 2 drives the right-angle rod 703 to move along the inner wall of the fan-shaped rail 702;

[0076] After the unmanned ship enters the inside of the parking platform 1, the ship body end charging interface is connected with the electromagnetic adsorption module 6 to charge, and in this process, the impact force generated when the ship body contacts the docking plate 5 is applied to the hinge-connected guide frame 11, the guide frame 11 moves along the middle part of the upper and lower slide block seats 10, the force is transmitted to the connecting spring 12 to make it deform, the impact force is buffered and dispersed, the electromagnetic adsorption module 6 is prevented from being damaged by the impact, and correspondingly, after the unmanned ship leaves the parking platform 1, the docking plate 5 can be reversely moved and reset under the action of the elastic potential energy accumulated in the connecting spring 12;

[0077] With the movement of the grid door 2 along the inner wall of the sector rail 702, the gear 705 provided on the outer ring of the straight rod 703 can mesh with the gear 705 rotating at the bottom of the sector rail 702 under the cooperation of the bearing 704 and the gear teeth 706, so as to drive the comb roller 707 to move and rotate in the entrance area of the parking platform 1, and through the gear gap, the flexible long strip-shaped debris floating on the water surface in the entrance area of the dock is hooked, so that the debris is intercepted outside the dock in advance, and the unmanned ship is prevented from bringing the debris into the dock when entering the dock, so as to avoid the contact jamming of the ship body and the inner wall of the parking platform 1, affect the parking and fixing of the unmanned ship, and ensure the stability of the docking and charging of the electromagnetic adsorption module 6 after the unmanned ship enters the dock.

[0078] At the same time, with the entry of the unmanned ship, the worm 801 rotates synchronously with the rotation of the grid door 2, and the rotating force is applied to the worm wheel 802, the worm wheel 802 further drives the screw rod 803 to rotate in the inside of the one-side rectangular hole 804, and under the assistance of the guide rod 813 in the other-side rectangular hole 804, the U-shaped hanging plate 805 moves along the inner wall of the two-side rectangular holes 804 towards the side of the grid door 2, one side of the two-side hinge frame 806 is hinged to the middle part of the docking plate 5, and in the process of docking and charging of the unmanned ship, the other end of the hinge frame 806 is hinged to the U-shaped hanging plate 805, and with the movement of the U-shaped hanging plate 805, the U-shaped hanging plate 805 gradually extends from the original retracted state to cover the bottom of the unmanned ship parked in the area directly below, so as to support the bottom of the unmanned ship, avoid the ship body from shaking due to the impact of water waves, form a three-dimensional protection through the front and rear limiting of the grid door 2 and the bottom support of the hinge frame 806, prevent the ship body from colliding with the parking platform 1 or the bottom from colliding with the equipment, ensure the stable docking of the electromagnetic adsorption module 6 due to the absence of ship body shaking caused by waves, and avoid interruption of charging or wear of the interface.

[0079] At the same time, with the movement of the U-shaped hanging plate 805, the wave plate 807 provided at the bottom of the U-shaped hanging plate 805 moves synchronously, pushes the floating debris in the extension path of the two-side hinge frame 806 before extension, and when the U-shaped hanging plate 805 moves to the position, the wave plate 807 contacts the collection frame 808 to collect the pushed garbage into the inside of the collection frame 808, so as to create an interference-free environment for the extension path of the two-side hinge frame 806 and avoid obstruction in the extension process.

[0080] For the garbage collected in the collection frame 808, the staff can remove the two side bolts 811 from the middle of the fixed nut 810 in the process of regular maintenance, unlock the partition plate 809, and then pull out the partition plate 809 from the middle of the collection frame 808, so that the garbage can be treated from the lower outlet.

[0081] Under the control of the unmanned ship entering and leaving the dock signal, the step motor two 901 drives the bidirectional screw rod 902 to rotate forward and backward, and under the assistance of the limiting rod 905, the two side movable sleeves 903 move away from / close to along the outer wall of the bidirectional screw rod 902, and through the spring rod 904 and the sleeve ring 906, the nylon roller 907 is driven to move away from / close to along the outer wall of the electromagnetic adsorption module 6 synchronously, so as to wipe and clean the sundries attached to the outer wall of the electromagnetic adsorption module 6, avoid the sundries forming an insulating layer to cover the outer wall of the electromagnetic adsorption module 6 to hinder the docking, and when the unmanned ship enters the dock, the two side nylon rollers 907 move reversely to the inner wall of the dock hatch 4, leaving space for the unmanned ship to enter, and ensuring the stability of the circuit contact when the unmanned ship is docked and charged with the electromagnetic adsorption module 6;

[0082] When the unmanned ship leaves the parking platform 1, the force originally applied to the docking plate 5 disappears, and the docking plate 5 moves to the side close to the grille door 2, and in this process, it will contact the two side nylon rollers 907, and the two side nylon rollers 907 rotate ninety degrees to a horizontal state under the assistance of the spring rod 904 and the sleeve ring 906, to ensure the stable reset of the docking plate 5;

[0083] Finally, after the energy supply of the unmanned ship is completed, the unmanned ship sends a signal to leave, and through the control of the control module 13, the step motor one 701 and the step motor two 901 are controlled to operate reversely, so that the grille door 2 and the dock hatch 4 are opened reversely, the unmanned ship is released from the limitation and fixed to leave the parking platform 1, and subsequent patrol monitoring is carried out.

[0084] The above describes the embodiments of the present application, but the embodiments are not limited to the above specific embodiments, and the above specific embodiments are only illustrative but not limiting, and those skilled in the art can make many forms under the inspiration of the embodiments, which all belong to the protection of the embodiments.

Claims

1. A mooring and fixing device for unmanned vessels, characterized in that, include: The docking platform (1), grille door (2), stand (3), dock door (4), docking plate (5) and electromagnetic adsorption module (6) provide temporary berthing and fixation for unmanned ships through the intelligent dock; The docking processing mechanism (7) includes a stepper motor (701) and a sector rail (702). The stepper motor (701) is fixedly installed at the top of the hinge shaft of the grille gate (2). The sector rail (702) is fixedly connected to the bottom of the docking platform (1). A right-angle rod (703) is fixedly connected to the bottom of the end of the grille gate (2) away from the hinge shaft. The outer wall of the right-angle rod (703) is slidably connected to the middle of the inner wall of the sector rail (702). The grille gate (2) is triggered to rotate and open by the unmanned vessel docking signal. Before docking, the grille gate (2) is rotated to process the debris on the water surface at the docking entrance. The parking support mechanism (8) includes a worm (801) and a worm wheel (802). The worm (801) is fixedly sleeved on the outer wall of the hinge shaft of the grille door (2). The worm wheel (802) is rotatably connected to the inside of the parking platform (1) and meshes with the worm (801). The outer walls of the electromagnetic adsorption module (6) are hinged with hinge frames (806) on both sides. The pre-processing mechanism (9) includes a second stepper motor (901) and a bidirectional lead screw (902), wherein the bidirectional lead screw (902) is fixedly connected to the drive end of the second stepper motor (901); The docking processing mechanism (7) also includes: The bearing (704) has its inner steel ring fixedly installed on the outer wall of the right-angle rod (703) away from the grille door (2). The outer steel ring of the bearing (704) is fixedly installed with a gear (705). The bottom of the fan-shaped rail (702) is evenly provided with several teeth (706). The gear (705) rotates along the track of the fan-shaped rail (702) and meshes with the teeth (706) in pairs. A comb roller (707) is snapped onto the side of the gear (705) away from the right-angle rod (703).

2. The unmanned vessel mooring and fixing device according to claim 1, characterized in that: The berthing platform (1) has rectangular holes (804) in the middle of both sides. The inner walls of the rectangular holes (804) on both sides are slidably connected to U-shaped hanging plates (805). The ends of the hinge frames (806) on both sides away from the docking plate (5) are hinged in the middle of the U-shaped hanging plates (805). The rotation and opening of the synchronous grille door (2) triggers the extension of the hinge frame (806) when the unmanned boat enters, thus providing support for the berthing of the unmanned boat. The stepper motor (901) is fixedly installed on the outer wall of the stand (3). The bidirectional lead screw (902) is rotatably connected to the middle of the stand (3), and the outer walls at both ends are fixedly connected to the dock door (4). The stepper motor (901) is driven by the unmanned vessel's entry and exit signal to drive the bidirectional lead screw (902) to rotate, so that the dock door (4) opens and closes at the top of the stand (3).

3. The unmanned vessel mooring and fixing device according to claim 2, characterized in that: The mooring support mechanism (8) also includes: The screw (803) is fixedly connected to the middle of the worm gear (802) and rotatably connected to the inside of a rectangular hole (804) on one side. The middle of one end of the U-shaped hanging plate (805) is threaded to the outer wall of the screw (803), and the middle of the rectangular hole (804) on the other side is fixedly connected to a guide rod (813). The middle of the other end of the U-shaped hanging plate (805) is slidably connected to the outer wall of the guide rod (813).

4. The unmanned vessel mooring and fixing device according to claim 3, characterized in that: The bottom of the U-shaped hanging plate (805) is fixedly connected to a wave plate (807), and the bottom of the parking platform (1) is fixedly connected to a collection frame (808) on the inner side of the fan-shaped rail (702). A partition (809) is inserted below the inner wall of the collection frame (808).

5. The unmanned vessel mooring and fixing device according to claim 4, characterized in that: The two sides of the collection frame (808) are fixedly connected with fixing nuts (810), and the middle of the fixing nuts (810) on both sides is threaded with bolts (811). The two sides of the partition (809) are provided with threaded holes (812), and the opposite ends of the bolts (811) on both sides are threaded to the inner walls of the threaded holes (812) on both sides.

6. The unmanned vessel mooring and fixing device according to claim 5, characterized in that: The pre-processing mechanism (9) further includes: A pair of movable sleeves (903) are threaded to the outer walls of the bidirectional lead screw (902) on both sides. A spring rod (904) is hinged to the bottom of each movable sleeve (903). A collar (906) is hinged to the bottom of each spring rod (904). A limit rod (905) is fixedly connected to the middle of the two sides of the upright (3) below the bidirectional lead screw (902).

7. The unmanned vessel mooring and fixing device according to claim 6, characterized in that: Both sides of the collar (906) are sleeved on the outer wall of the limiting rod (905), and the bottom of both sides of the collar (906) is fixedly connected to a nylon roller (907). The outer wall of the nylon roller (907) on both sides is on the same straight line as the outer side of the electromagnetic adsorption module (6).

8. The unmanned vessel mooring and fixing device according to claim 7, characterized in that: The parking platform (1) has a slider seat (10) fixedly installed on both the upper and lower sides of the end away from the grille door (2). The middle of both sides of the slider seat (10) is slidably connected to the guide frame (11). The guide frame (11) is connected to the slider seat (10) through the connecting spring (12). The end of the guide frame (11) away from the slider seat (10) is hinged to the inner side of the docking plate (5). The inner wall of the guardrail of the parking platform (1) is fixedly installed with a control module (13). The control module (13) is electrically connected to the electromagnetic adsorption module (6), stepper motor one (701) and stepper motor two (901).

9. The unmanned vessel mooring and fixing device according to claim 8, characterized in that: The grille door (2) is rotatably connected to the middle of the front side of the parking platform (1), the stand (3) is fixedly installed on the top of the parking platform (1) near the electromagnetic adsorption module (6), the docking plate (5) is slidably connected to the inner wall of the parking platform (1), and the electromagnetic adsorption module (6) is fixedly installed on the middle of the outer side of the docking plate (5).

10. A method for mooring and securing an unmanned vessel, applied to the unmanned vessel mooring and securing device described in claim 9, characterized in that, Includes the following steps: Step 1: After selecting the mooring position for the entire intelligent dock, drive steel piles into the waterway below the location and then erect the entire dock on top of the steel piles. Adjust and position the dock using anchor chains. When the unmanned vessel's battery is low, control the unmanned vessel to return to the dock via radar signals within the dock. Upon receiving a signal that the unmanned vessel is approaching, the control module (13) controls stepper motor 1 (701) to drive the grille gate (2) to rotate outward and open. During this process, the grille gate (2) is opened via right-angle rod (703) and While the bearing (704) drives the gear (705) to rotate 90 degrees along the arc trajectory of the sector rail (702), the gear (705) rotates at the bottom of the sector rail (702) under the meshing transmission of the teeth (706), driving the comb roller (707) to move and rotate inside the sector area of ​​the sector rail (702), and wrapping away the flexible strip-shaped debris floating on the water surface at the entrance area of ​​the unmanned boat, ensuring that the path of the entrance area is free of debris when the unmanned boat enters the docking platform (1); Step 2: After the unmanned boat enters, its front charging interface is attracted to the electromagnetic adsorption module (6) to replenish energy. During the docking process, the impact force generated by the unmanned boat contacting the docking plate (5) is acted on the connecting spring (12) by the guide frames (11) on both sides through the slider seat (10), so that the connecting spring (12) deforms to buffer the impact force. Step 3: During the process of the unmanned boat entering the dock for docking and charging, under the control of the entry signal, the stepper motor 2 (901) drives the bidirectional lead screw (902) to rotate in the forward direction. With the cooperation of the spring rod (904), the limit rod (905) and the collar (906), the nylon rollers (907) on both sides move in the opposite direction through the movable sleeve (903), moving from the original position close to the center of the electromagnetic adsorption module (6) to both sides, and cleaning the outer wall of the electromagnetic adsorption module (6) in the moving path; Step 4: After the unmanned boat enters the charging area, the control module (13) controls the stepper motor (701) to drive the grille gate (2) to rotate and close, locking the unmanned boat's docking area. During this process, the worm gear (801) on the outer wall of the hinge shaft of the grille gate (2) drives the worm wheel (802) to rotate, so that the screw (803) fixedly connected to the worm wheel (802) rotates inside the rectangular hole (804). With the cooperation of the guide rod (813) in the rectangular hole (804) on the other side, the two ends of the U-shaped hanging plate (805) move along the inner wall of the rectangular holes (804) on both sides towards the grille gate (2), driving the two sets of hinge frames (806) to extend and unfold, forming support for the bottom of the unmanned boat underwater. Step 5: As the U-shaped hanging plate (805) moves, the wave plate (807) moves closer to the side of the grille door (2), pushing the debris on the extension path of the hinge frame (806) on both sides. As the hinge frame (806) on both sides extends into place, the wave plate (807) can push and collect the debris into the inside of the collection frame (808), ensuring the smoothness of the extension path of the hinge frame (806). Step 6: After the unmanned vessel finishes refueling, it sends out a departure signal. The control module (13) controls the stepper motor 1 (701) and the stepper motor 2 (901) to operate in opposite directions, so that the grille door (2) and the dock door (4) rotate in opposite directions and open. The unmanned vessel is released from the restriction and fixed and sails out of the docking platform (1).

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