Mooring method and mooring system

Abstract

The invention belongs to the technical field of ships, and discloses a mooring method and a mooring system. The mooring system comprises a mooring device and a monitoring module, the mooring device comprises a first adsorption end, a mechanical arm and a second adsorption end, the second adsorption end is connected to the first adsorption end through the mechanical arm, the first adsorption end can be adsorbed to the ground, and the second adsorption end can be adsorbed to a ship body; the mooring method comprises the steps that S100, the number and the arrangement mode of the mooring devices are set according to the size of a ship body; s200, the monitoring module sends an instruction to enable the first adsorption end of the mooring device to be adsorbed to the ground; s300, the monitoring module sends an instruction to enable the mechanical arm to adjust the posture according to the position of the ship body; and S400, the monitoring module sends an instruction to enable the second adsorption end to be adsorbed to the ship body. According to the mooring method and the mooring system, personnel participation in the mooring process is reduced, so that the purpose of reducing the working risk of professionals in a dangerous environment is achieved, and the ship docking mooring efficiency is improved.

Description

Technical Field

[0001] This invention relates to the field of marine technology, and in particular to a mooring method and mooring system. Background Technology

[0002] In related technologies, mooring of ships after berthing in port is done using cable mooring. After berthing, the crew needs to lay and tie the cables. This mooring method requires human intervention throughout the process, which has the following problems: 1. Under conditions of tight mooring and high waves, the cables are prone to breakage, posing a serious threat to the lives of the crew; 2. Cable mooring is time-consuming, cumbersome, involves many personnel, and is inefficient. Summary of the Invention

[0003] The purpose of this invention is to provide a mooring method and system that reduces personnel involvement in the mooring process, thereby reducing the risk to professionals working in hazardous environments and improving the efficiency of ship berthing and mooring.

[0004] To achieve this objective, the present invention adopts the following technical solution:

[0005] A mooring method, the mooring system including a mooring device and a monitoring module, the mooring device including a first adsorption end, a robotic arm and a second adsorption end, the second adsorption end being connected to the first adsorption end via the robotic arm, the first adsorption end being capable of adsorbing onto the ground, and the second adsorption end being capable of adsorbing onto the hull; the mooring method includes:

[0006] S100. The number and arrangement of the mooring devices are determined according to the size of the hull.

[0007] S200, The monitoring module sends a command to cause the first adsorption end of the mooring device to adsorb onto the ground;

[0008] S300, The monitoring module sends a command to cause the robotic arm to adjust its posture according to the position of the hull;

[0009] S400, The monitoring module sends a command to cause the second adsorption end to adsorb onto the hull.

[0010] In some embodiments, the mooring device is provided in multiple locations, and the mooring method further includes:

[0011] S500: Detect whether the first adsorption end of all said mooring devices is adsorbed onto the ground;

[0012] S600. When the first adsorption end of a portion of the mooring system detaches from the ground, while the first adsorption end of another portion of the mooring system remains adsorbed on the ground, the monitoring module sends a command to make the first adsorption end re-adsorb onto the ground.

[0013] In some embodiments, it also includes:

[0014] S700: Detect whether the second adsorption end is adsorbed onto the hull;

[0015] S800, No, then the monitoring module sends a command to make the second adsorption end adsorb onto the hull again.

[0016] In some embodiments, when the hull undergoes an attitude change, the mooring method further includes: the monitoring module sending a command to cause the robotic arm to readjust its attitude according to the position of the hull.

[0017] In some embodiments, when the robotic arm readjusts its attitude again according to the position of the hull, the following steps are included:

[0018] S910, The monitoring module sends a command to cause the second adsorption end to detach from the hull;

[0019] S920. The monitoring module sends a command to cause the robotic arm to adjust its posture according to the position of the hull.

[0020] S930, The monitoring module sends a command to cause the second adsorption end to adsorb onto the hull.

[0021] In some embodiments, step S200 includes:

[0022] S410. Detect whether the second adsorption end has reached the preset position;

[0023] S420. If yes, the monitoring module sends a command to cause the second adsorption end to adsorb onto the hull.

[0024] A mooring system includes: a vehicle body, a robotic arm, an adsorption device, and a monitoring module. The adsorption device is connected to the vehicle body via the robotic arm. The vehicle body serves as a first adsorption end, capable of adsorbing onto the ground. The adsorption device serves as a second adsorption end, capable of adsorbing onto the hull. The vehicle body, the robotic arm, and the adsorption device are all communicatively connected to the monitoring module. The mooring system is used to implement the mooring method described in any of the preceding claims.

[0025] In some embodiments, the vehicle body includes a first suction cup and a first sensor. The first suction cup is used to adhere to the ground, and the first sensor is used to detect the adhesion state of the first suction cup and can feed back the detection information to the monitoring module.

[0026] In some embodiments, the adsorption device includes a rubber ring, a second suction cup, a pressure sensor, and a rangefinder. The rubber ring is connected to the front end of the second suction cup, and the pressure sensor is located on the rubber ring. When the hull contacts the rubber ring, the pressure sensor receives a pressure signal and feeds it back to the monitoring module. The rangefinder is used to measure the distance to the surface of the hull and feeds a signal back to the monitoring module when the distance meets a preset value.

[0027] In some embodiments, the adsorption device further includes a second sensor, which is used to detect the pressure inside the second suction cup and feed the detection signal back to the monitoring module.

[0028] In some embodiments,

[0029] The beneficial effects of this invention are:

[0030] Because the first adsorption end of the mooring device can adhere to the ground, it offers high flexibility. The number and arrangement of the mooring devices can be flexibly selected based on the size and shape of the vessel, resulting in good adaptability. Furthermore, since the mooring devices are not directly fixed to the dock, this increases the system's mobility and reduces conflicts and interference with dock operations.

[0031] After a vessel berths, an intelligent mooring system controlled by a monitoring device is used for mooring. Specifically, the mooring device is connected to the hull plating via a second adsorption end. The first adsorption end adheres to the ground to secure the mooring device, while the second adsorption end adheres to the hull, achieving mooring. The robotic arm's multi-degree-of-freedom adjustment adapts to the hull's attitude compensation. Remote control via the monitoring module eliminates the need for cable laying and retrieval after berthing, achieving automated and intelligent vessel mooring. This replaces the traditional manual mooring process, improving berthing efficiency, effectively saving manpower and time costs, accelerating vessel turnaround, and enhancing the profitability of port operating companies. It also indirectly improves the economic benefits of shipping companies. This avoids the manual mooring cable operations used in related technologies, reducing personnel involvement in the mooring process and minimizing the risks for professionals working in hazardous environments. Attached Figure Description

[0032] Figure 1 This is a flowchart of a mooring method according to an embodiment of the present invention;

[0033] Figure 2 This is a flowchart of another mooring method according to an embodiment of the present invention;

[0034] Figure 3 This is a schematic diagram of the mooring system described in an embodiment of the present invention;

[0035] Figure 4 This is a front view of the mooring system described in an embodiment of the present invention;

[0036] Figure 5 This is a bottom view of the mooring system described in an embodiment of the present invention;

[0037] Figure 6 This is a top view of the mooring system described in an embodiment of the present invention.

[0038] In the picture:

[0039] 1. Vehicle body; 11. First suction cup;

[0040] 2. Robotic arm;

[0041] 3. Adsorption device; 31. Second suction cup; 32. Rubber ring. Detailed Implementation

[0042] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar components or components having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0043] In the description of this invention, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection or a detachable connection; a mechanical connection or an electrical connection; a direct connection or an indirect connection through an intermediate medium; or the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0044] In the description of this invention, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0045] The technical solution of the present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0046] like Figure 1 and Figure 2As shown, the present invention provides a mooring method. The mooring system includes a mooring device and a monitoring module. The mooring device includes a first adsorption end, a robotic arm, and a second adsorption end. The second adsorption end is connected to the first adsorption end via the robotic arm. The first adsorption end can adsorb onto the ground, and the second adsorption end can adsorb onto the hull. The mooring method includes:

[0047] S100. The number and arrangement of mooring devices shall be determined according to the size of the ship.

[0048] S200, the monitoring module sends a command to make the first adsorption end of the mooring device adsorb onto the ground;

[0049] The S300 and monitoring module send commands to the robotic arm to adjust its posture according to the position of the hull.

[0050] The S400 and monitoring module send instructions to cause the second adsorption end to adhere to the hull.

[0051] Because the first adsorption end of the mooring device can adhere to the ground, it offers high flexibility. The number and arrangement of the mooring devices can be flexibly selected based on the size and shape of the vessel, resulting in good adaptability. Furthermore, since the mooring devices are not directly fixed to the dock, this increases the system's mobility and reduces conflicts and interference with dock operations.

[0052] After a vessel berths, an intelligent mooring system controlled by a monitoring device is used for mooring. Specifically, the mooring device is connected to the hull plating via a second adsorption end. The first adsorption end adheres to the ground to secure the mooring device, while the second adsorption end adheres to the hull, achieving mooring. The robotic arm's multi-degree-of-freedom adjustment adapts to the hull's attitude compensation. Remote control via a monitoring module eliminates the need for cable laying and retrieval after berthing, achieving automated and intelligent mooring. This replaces the traditional manual mooring process, improving berthing efficiency, effectively saving manpower and time costs, accelerating vessel turnaround, and enhancing the profitability of port operating companies. It also indirectly improves the economic benefits of shipping companies. This avoids the manual mooring cable operations used in related technologies, reducing personnel involvement in the mooring process and minimizing the risks for professionals working in hazardous environments. The cable mooring system connects to the mooring device on the port shore via jackhammers and guide holes. This also solves problems such as cable wear and deck deformation caused by improper operation or excessively rough weather.

[0053] Multiple mooring devices are provided, and mooring methods also include:

[0054] S500: Check whether the first adsorption end of all mooring devices is adsorbed onto the ground;

[0055] S600: When the first adsorption end of part of the mooring system detaches from the ground while the first adsorption end of another part of the mooring system remains adsorbed to the ground, the monitoring module sends a command to re-adsorb the first adsorption ends onto the ground. If the wind and waves are large, which may affect the mooring system's limit switches and cause the first adsorption ends of some mooring devices to detach, the detached first adsorption ends will promptly re-adsorb onto the ground while other mooring devices are still operating normally, thus improving the reliability of ship mooring.

[0056] Mooring methods also include:

[0057] S700, Detect whether the second adsorption end is adsorbed onto the hull;

[0058] If S800 is not selected, the monitoring module sends a command to re-adhere the second adsorption end to the hull. By monitoring the adsorption status between the second adsorption end and the hull in real time, the module ensures that the second adsorption end is stably adsorbed to the hull, thereby improving mooring reliability.

[0059] When the vessel's attitude changes, the mooring method also includes: the monitoring module sending commands to the robotic arm to readjust its attitude according to the vessel's position; and receiving adjustment commands from the remote monitoring module to ensure the robotic arm can continuously compensate for the vessel's movement and automatically adjust its attitude according to the vessel's position, thereby maintaining the second adsorption end connected to the robotic arm stably adsorbed to the vessel. By using vacuum adsorption and dynamic adjustment of the robotic arm instead of cable mooring, the adaptability to wind and waves is improved, and the risk of cable breakage is avoided. This reduces personnel involvement, avoids the threat to human safety caused by cable breakage due to tidal and other weather changes, and improves mooring operation efficiency.

[0060] When the robotic arm readjusts its attitude based on the ship's position again, the following steps are included:

[0061] S910, the monitoring module sends a command to detach the second adsorption end from the hull;

[0062] The S920 and monitoring module send commands to the robotic arm to adjust its posture according to the position of the hull.

[0063] The S930 and monitoring module send commands to cause the second adsorption end to adhere to the hull, facilitating dynamic adjustment of the robotic arm.

[0064] In step S200, the following is included:

[0065] S410. Detect whether the second adsorption end has reached the preset position;

[0066] S420, if yes, then the monitoring module sends a command to make the second adsorption end adsorb onto the hull, ensuring that the second adsorption end is adsorbed onto the hull.

[0067] like Figures 3-6As shown, this embodiment also provides a mooring system, including: a vehicle body 1, a robotic arm 2, an adsorption device 3, and a monitoring module. The adsorption device 3 is connected to the vehicle body 1 via the robotic arm 2. The vehicle body 1 is the first adsorption end, capable of adsorbing onto the ground, and the adsorption device 3 is the second adsorption end, capable of adsorbing onto the hull. The vehicle body 1, the robotic arm 2, and the adsorption device 3 are all communicatively connected to the monitoring module. The mooring system is used to implement the mooring method described above.

[0068] The vehicle body 1 can selectively adhere to or detach from the ground, allowing for the selection and arrangement of the number and location of mooring devices based on the size of the vessel, offering good flexibility and adaptability. The suction force generated by the adsorption device 3 replaces the traditional cable tension, enabling rapid mooring and release of the vessel. The robotic arm 2 can dynamically adjust to meet actual needs, ensuring the adsorption device 3 fits snugly against the vessel, improving mooring reliability. A monitoring module enables remote control, achieving automated mooring, reducing human intervention, lowering the risk to professionals working in hazardous environments, and improving vessel berthing efficiency.

[0069] The vehicle body 1 includes a first suction cup 11 and a first sensor. The first suction cup 11 is used to adhere to the ground, and the first sensor is used to detect the adhesion status of the first suction cup 11 and can feed the detection information back to the monitoring module. The first suction cup 11 and the first sensor are located at the bottom of the vehicle body 1. The number of first suction cups 11 can be one, two, or more, without limitation. The first suction cup 11 achieves braking and limiting with the ground surface, allowing the mooring device to be firmly adhered to the port dock. This allows the selection and arrangement of the number of mooring devices to be determined based on the size of the vessel. The mooring device operates in a stationary state. To avoid the influence of tides and waves on the adhesion of the first suction cup 11, a first sensor is installed here to continuously monitor the adhesion strength and positioning status of the first suction cup 11. Specifically, the first sensor is a pressure sensor used to detect whether there is air leakage inside the first suction cup 11. If no leakage occurs, the adhesion status is good; if leakage occurs, the pressure sensor feeds a signal back to the monitoring module, and the monitoring module issues instructions as needed, such as causing the first suction cup 11 to adhere again.

[0070] Specifically, the vehicle body 1 includes a vacuum pump, which is used to evacuate the first suction cup 11. The vacuum pump is connected to the monitoring module, and the monitoring module controls the vacuum pump to start, so that the first suction cup 11 can be adsorbed onto the ground.

[0071] To increase mobility and facilitate the free movement of the mooring device, and to avoid conflicts and interference with dock operations caused by long-term installation at the dock, the vehicle body 1 is equipped with four wheels for movement and travel, forming a loading trolley.

[0072] The adsorption device 3 includes a rubber ring 32, a second suction cup 31, a pressure sensor, and a rangefinder. The rubber ring 32 is connected to the front end of the second suction cup 31. The pressure sensor is located on the rubber ring 32. When the hull contacts the rubber ring 32, the pressure sensor receives a pressure signal and feeds it back to the monitoring module. The rangefinder measures the distance to the hull surface and sends a signal back to the monitoring module when the distance meets a preset value. The front end of the adsorption device 3 is attached to the rubber ring 32, making non-destructive contact with the hull shell. Specifically, the number of second suction cups 31 can be one or more, without limitation. The adsorption device 3 also includes a vacuum pump, which is communicatively connected to the monitoring module. The monitoring module issues commands to turn the vacuum pump on or off. When the hull surface contacts the rubber ring 32, the pressure sensor on the rubber ring 32 receives a pressure signal and confirms the distance between the hull surface and the rubber ring 32 a second time using the rangefinder. After ensuring that the second suction cup 31 is attached to the hull surface, the vacuum pump starts working. A vacuum pump extracts air from the inner cavity of the second suction cup 31, causing air compression at the suction cup opening and generating suction force, which firmly adheres the suction cup opening to the hull surface. Pressure sensors and rangefinders, as essential components ensuring the normal operation of the adsorption device 3, constantly monitor its operational status.

[0073] The adsorption device 3 also includes a second sensor, which is used to detect the pressure inside the second suction cup 31 and feed the detection signal back to the monitoring module.

[0074] Optionally, the second sensor is a pressure sensor used to monitor whether there is air leakage inside the suction cup cavity. Data is collected and uploaded to a 5G cloud service, then further analyzed by the central control system of the remote monitoring module, which then sends adjustment commands back to the vacuum pump for dynamic adjustment.

[0075] Furthermore, the adsorption device 3 also includes auxiliary devices, such as a pressure sensor, a rangefinder, a second sensor, and a vacuum pump, all of which are communicatively connected to the auxiliary devices. These auxiliary devices are also communicatively connected to the monitoring module.

[0076] When the second suction cup 31 of the adsorption device 3 first contacts the hull, the auxiliary device, receiving instructions, starts the vacuum pump according to the monitoring module's command until the pressure sensor reaches the calibrated pressure value. When the hull undergoes multi-degree-of-freedom attitude changes due to tides, wind loads, or passing vessels, the monitoring device, based on the received instructions after analyzing the data, coordinates with the robotic arm 2 to achieve dynamic adjustments through the intelligent start and stop of the vacuum pump. Specifically, the monitoring module sends a command to detach the second suction cup 31 from the hull, then the robotic arm 2 adjusts its attitude according to the hull's position, and finally the second suction cup 31 re-adheres onto the hull, facilitating the dynamic adjustment of the robotic arm 2.

[0077] The robotic arm 2 is capable of multi-degree-of-freedom adjustment. It is mounted on the loading vehicle body 1. For example, the robotic arm 2 is a hydraulic three-axis robotic arm 2. The hydraulic system is equipped with sensors. With the assistance of the adsorption device 3, the mooring system can continuously compensate for the movement of the ship and automatically adjust its attitude according to the position of the ship by means of adjustment commands from the monitoring module.

[0078] The auxiliary devices and monitoring modules can be based on existing technologies and will not be described in detail here.

[0079] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A mooring method, characterized in that, The mooring system includes a mooring device and a monitoring module. The mooring device includes a first adsorption end, a robotic arm, and a second adsorption end. The second adsorption end is connected to the first adsorption end via the robotic arm. The first adsorption end can adhere to the ground, and the second adsorption end can adhere to the hull. The mooring method includes: S100. The number and arrangement of the mooring devices are determined according to the size of the hull. S200, The monitoring module sends a command to cause the first adsorption end of the mooring device to adsorb onto the ground; S300, The monitoring module sends a command to cause the robotic arm to adjust its posture according to the position of the hull; S400, The monitoring module sends a command to cause the second adsorption end to adsorb onto the hull.

2. The mooring method according to claim 1, characterized in that, The mooring device is provided in multiple locations, and the mooring method further includes: S500: Detect whether the first adsorption end of all said mooring devices is adsorbed onto the ground; S600. When the first adsorption end of a portion of the mooring system detaches from the ground, while the first adsorption end of another portion of the mooring system remains adsorbed on the ground, the monitoring module sends a command to make the first adsorption end re-adsorb onto the ground.

3. The mooring method according to claim 1, characterized in that, Also includes: S700: Detect whether the second adsorption end is adsorbed onto the hull; S800, No, then the monitoring module sends a command to make the second adsorption end adsorb onto the hull again.

4. The mooring method according to claim 1, characterized in that, When the ship's attitude changes, the mooring method further includes: the monitoring module sending a command to cause the robotic arm to adjust its attitude again according to the ship's position.

5. The mooring method according to claim 1, characterized in that, When the robotic arm adjusts its attitude again according to the position of the hull, the following steps are included: S910, The monitoring module sends a command to cause the second adsorption end to detach from the hull; S920. The monitoring module sends a command to cause the robotic arm to adjust its posture according to the position of the hull. S930, The monitoring module sends a command to cause the second adsorption end to adsorb onto the hull.

6. The mooring method according to any one of claims 1-5, characterized in that, In step S200, the following is included: S410. Detect whether the second adsorption end has reached the preset position; S420. If yes, the monitoring module sends a command to cause the second adsorption end to adsorb onto the hull.

7. A mooring system, characterized in that, include: The system comprises a vehicle body (1), a robotic arm (2), an adsorption device (3), and a monitoring module. The adsorption device (3) is connected to the vehicle body (1) via the robotic arm (2). The vehicle body (1) is the first adsorption end, capable of adsorbing onto the ground. The adsorption device (3) is the second adsorption end, capable of adsorbing onto the hull. The vehicle body (1), the robotic arm (2), and the adsorption device (3) are all communicatively connected to the monitoring module. The mooring system is used to implement the mooring method as described in any one of claims 1-6.

8. The mooring system according to claim 7, characterized in that, The vehicle body (1) includes a first suction cup (11) and a first sensor. The first suction cup (11) is used to adhere to the ground, and the first sensor is used to detect the adsorption state of the first suction cup (11) and can feed back the detection information to the monitoring module.

9. The mooring system according to claim 7, characterized in that, The adsorption device (3) includes a rubber ring (32), a second suction cup (31), a pressure sensor, and a rangefinder. The rubber ring (32) is connected to the front end of the second suction cup (31). The pressure sensor is located on the rubber ring (32). When the hull contacts the rubber ring (32), the pressure sensor receives a pressure signal and feeds it back to the monitoring module. The rangefinder is used to measure the distance to the surface of the hull and feeds back a signal to the monitoring module when the distance meets a preset value.

10. The mooring system according to claim 9, characterized in that, The adsorption device (3) also includes a second sensor, which is used to detect the pressure inside the second suction cup (31) and feed the detection signal back to the monitoring module.

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