Unmanned ship offshore liquid cargo supply receiving assembly system and control method thereof

Abstract

The invention discloses an unmanned ship seaborne liquid cargo supply receiving assembly system which comprises a hose system, an on-board hard pipe system and a liquid cargo compartment assembly and further comprises a pressure monitoring assembly and a supply receiving control system, and the hose system comprises a hose, a connector connected with the on-board hard pipe assembly, a reel and a hose winding and unwinding control device. The on-board hard pipe system comprises a hard pipe assembly, a valve assembly and a valve control device, the pressure monitoring assembly comprises a data acquisition module, a data processing and display control module and an information transmission interface, and the liquid cargo compartment assembly comprises a liquid cargo compartment structure space, a liquid level monitoring device and a liquid level loading capacity calculation control device. The invention further discloses a control method of the unmanned ship offshore liquid cargo supply receiving assembly system. The system can monitor the cabin loading state of the liquid cargo cabin and the smoothness of the pipeline in real time, ensures that the demand of supply receiving is met, and can be widely applied to the technical field of offshore supply and storage and transportation.

Description

Technical Field

[0001] This invention relates to the field of marine replenishment and storage technology, and in particular to an unmanned vessel marine liquid cargo replenishment receiving assembly system and its control method. Background Technology

[0002] To ensure long-term operational availability, traditional manned vessels typically use at-sea replenishment receiving devices to resupply fuel, fresh water, and dry cargo. Currently, mainstream at-sea liquid cargo replenishment receiving technologies are mostly applicable to manned ships, and their operation is complex, requiring significant manpower. Unmanned vessels, lacking crew members, cannot rely on human labor for at-sea replenishment receiving operations, urgently needing to improve the automation level of such equipment, and even achieve unmanned and intelligent operation at the receiving end.

[0003] Unmanned ships have no crew and no need to replenish dry goods such as food and liquid goods such as drinking water. Their needs are limited to fuel liquids such as fuel oil. Therefore, operations can focus on replenishing liquid goods.

[0004] Maritime liquid cargo replenishment reception requires the establishment of a pipeline between the unmanned surface vessel (USV) and a dedicated supply vessel. Considering the complexity of the maritime environment, the pipeline is typically a flexible hose. If the hose is installed on the dedicated supply vessel, it would be difficult for the supply vessel to deliver the pipeline connector and establish a reliable connection since the USV has no crew. Therefore, it is preferable to install the hose on the USV side. After the hose is released from the USV, the crew on the dedicated supply vessel can capture the hose and establish a connection.

[0005] During replenishment operations, fuel oil and other liquid cargoes are ultimately loaded into specific liquid cargo compartments such as fuel oil tanks. The liquid cargo is transported from the replenishment ship through flexible hoses into rigid pipes on the hull, and then flows into the liquid cargo compartments through the rigid pipes. The loading status of the liquid cargo compartments and the unobstructed flow of the pipelines need to be monitored in real time to ensure that they meet the requirements for replenishment reception. Summary of the Invention

[0006] The purpose of this invention is to overcome the shortcomings of the above-mentioned background technology and provide an unmanned vessel marine liquid cargo replenishment and receiving assembly system and its control method, which enables real-time monitoring of the loading status of the liquid cargo compartments and the unobstructed flow of pipelines to ensure that the replenishment and receiving requirements are met.

[0007] This invention provides an unmanned surface vessel (USV) marine liquid cargo replenishment and receiving assembly system, comprising a hose system, an onboard rigid pipe system, and a liquid cargo compartment assembly, as well as a pressure monitoring component and a replenishment and receiving control system. The hose system includes a hose, an interface connected to the onboard rigid pipe assembly, a reel, and a hose deployment and retraction control device. The onboard rigid pipe system includes a rigid pipe assembly, a valve assembly, and a valve control device. The pressure monitoring component includes a data acquisition module, a data processing and display control module, and an information transmission interface. The liquid cargo compartment assembly includes a liquid cargo compartment structural space, a liquid level monitoring device, and a liquid level loading capacity calculation and control device. The liquid level monitoring device is equipped with a remote acquisition and information transmission interface, and the valve assembly is equipped with a remote acquisition module and an information transmission and control interface.

[0008] In the above technical solution, the hose system is used to release the hose during the resupply and reception preparation phase, retract the hose after the resupply and reception is completed, connect the rigid pipe assembly, and receive liquid cargo.

[0009] In the above technical solution, the shipboard rigid pipe system is used to connect the hose to the liquid cargo compartment, control the on / off state of the rigid pipe, transfer the liquid cargo received by the hose, and control the flow direction of the liquid cargo.

[0010] In the above technical solution, the pressure monitoring component is used to monitor the fluid pressure in the pipeline in real time.

[0011] In the above technical solution, the liquid cargo compartment assembly is used to store liquid cargo, monitor liquid level, and monitor and calculate the liquid cargo storage volume in the compartment.

[0012] In the above technical solution, the supply receiving control system is used to monitor the entire supply receiving process and perform logical control on the entire process.

[0013] In the above technical solution, the supply receiving control system is divided into two levels: component level and system level. The component level is used for the functional control, status monitoring and fault alarm of the hose system, shipboard rigid pipe system, pressure monitoring component and liquid cargo compartment component, and is equipped with a first control terminal, which can work independently or be controlled by the system level. The system level controls the hose system, shipboard rigid pipe system, pressure monitoring component and liquid cargo compartment component to carry out operations, and runs normal supply receiving operations according to the operation sequence. It judges the adjustment and opening / closing of each link according to the logical relationship, judges whether each link is operating normally and whether emergency operation instructions need to be issued. The system level is equipped with a second control terminal, and has control interfaces at the boat end, shore end / command ship end.

[0014] This invention also provides a control method for an unmanned vessel-based liquid cargo replenishment and receiving assembly system, comprising the following steps: Pre-scanning: After preparation, the sending vessel injects high-pressure air into the hose. Once the pressure monitoring component detects that the pipeline pressure has stabilized, the sending vessel stops injecting high-pressure air. After the pipeline pressure decreases, the pressure monitoring component reports back to the replenishment and receiving control system that the pre-scanning is normal. Receiving liquid cargo: The sending vessel begins supplying liquid cargo, which flows in through the hose and into the liquid cargo compartment structure through the rigid pipe. The pressure monitoring component monitors the pipeline pressure in real time. Once the pressure stabilizes, the liquid cargo compartment assembly collects liquid level information in real time and calculates the compartment loading capacity, then reports the liquid level information and loading capacity back to the replenishment and receiving control system in real time. Information: When the pressure monitoring component detects that the hydraulic pressure in the compartment has reached the upper limit, the liquid cargo compartment component sends a request signal to the replenishment and receiving control system to close the corresponding rigid pipe valves. Upon receiving the request signal, the replenishment and receiving control system sends an instruction to close the corresponding valves to the ship's rigid pipe system. When the liquid cargo reception volume reaches the predetermined amount or all receiving compartments are full, the liquid cargo compartment component sends a request signal to the replenishment and receiving control system to end the replenishment and receiving operation. Line sweeping: The sending ship injects high-pressure air into the hose again. The pressure monitoring component monitors the pipeline pressure in real time. After detecting a significant change in the pressure signal, the pressure monitoring component sends a line sweeping completion signal to the replenishment and receiving control system, and the sending ship disconnects from the hose.

[0015] The above technical solution also includes a preparation step, which specifically involves the following steps: the supply receiving control system sends a preparation command; the hose reeling and releasing control device in the hose system controls the winch to automatically release the hose; after monitoring that the hose is fully released, it sends a hose release completion signal to the supply receiving control system; the sending ship connects the hose to its own pipeline; the ship's rigid pipe system control valve device opens the rigid pipe valve of the compartment to be received liquid cargo, preparing to receive the liquid cargo, and feeds back the valve opening information to the supply receiving control system; the pressure monitoring component is activated and feeds back the collected data to the supply receiving control system; the liquid cargo compartment component collects liquid level information, calculates the loading capacity of the liquid cargo compartment structure, and feeds back the liquid level information and loading capacity information to the supply receiving control system.

[0016] The above technical solution also includes a cleanup step, which specifically involves the following steps: the resupply receiving control system issues a cleanup command; the hose reeling and deployment control device in the hose system controls the winch to automatically retrieve the hose; after monitoring that the hose is fully retrieved, the hose system sends a signal to the resupply receiving control system indicating that the hose retrieval is complete; the valve control device of the ship's rigid pipe system closes the rigid pipe valve of the receiving liquid cargo compartment and sends valve closure information back to the resupply receiving control system; the resupply receiving control system closes the pressure monitoring component; the liquid cargo compartment component collects liquid level information, calculates the compartment loading capacity, and sends the final liquid level and loading capacity information back to the resupply receiving control system.

[0017] The unmanned vessel marine liquid cargo replenishment receiving assembly system and its control method of the present invention have the following beneficial effects: 1. A technical solution for an unmanned vessel maritime liquid cargo replenishment and receiving assembly system is proposed; 2. A control hierarchy for an unmanned vessel maritime liquid cargo replenishment and receiving assembly system was planned; 3. The control flow and logical relationship of a technical solution for an unmanned vessel marine liquid cargo replenishment and receiving assembly system are presented. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the structure of the unmanned vessel marine liquid cargo replenishment and receiving assembly system of the present invention; Figure 2 This is a flowchart illustrating the control method of the unmanned vessel marine liquid cargo replenishment and receiving assembly system of the present invention. Detailed Implementation

[0019] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments, but these embodiments should not be construed as limiting the present invention.

[0020] The successful implementation of this invention requires overcoming two technical challenges: (1) Scheme for unmanned marine liquid cargo replenishment and receiving system; (2) Remote control planning for at-sea replenishment and receiving operations.

[0021] To achieve the above-mentioned objectives, the embodiments of the technical solution of the present invention are as follows: Example 1 See Figure 1Embodiment 1 of the present invention discloses a technical solution for an unmanned vessel marine liquid cargo replenishment and receiving assembly system, which mainly consists of a hose system 1, a shipboard rigid pipe system 2, a pressure monitoring component 3, a liquid cargo compartment component 4, and a replenishment and receiving control system 5. The system comprises: a hose system 1, a hose, an interface connecting to the ship's rigid piping assembly, a reel, and a hose deployment and retraction control device; mainly used for hose release during the replenishment and reception preparation phase, hose retrieval after replenishment and reception, connection to the rigid piping assembly, and reception of liquid cargo such as fuel oil; a ship's rigid piping system 2, a rigid piping assembly, a valve assembly, and a valve control device; mainly used for connecting the hose to the liquid cargo compartment, controlling the on / off state of the rigid piping, transferring liquid cargo such as fuel oil received by the hose, and controlling the flow direction of the liquid cargo; a pressure monitoring assembly 3, a data acquisition module, a data processing and display control module, and an information transmission interface; mainly used for real-time monitoring of fluid pressure in the pipeline; a liquid cargo compartment assembly 4, mainly including the liquid cargo compartment structure space, a liquid level monitoring device, and a liquid level loading capacity calculation and control device; mainly used for storing liquid cargo, monitoring the liquid level, and monitoring and calculating the liquid cargo storage capacity of the compartment; and a replenishment and reception control system 5, mainly used for monitoring and logic control of the entire replenishment and reception process. Pressure monitoring components 3 and liquid level monitoring devices must have remote acquisition, processing and remote information transmission interfaces, and valve components must have remote acquisition modules, information transmission interfaces and control interfaces.

[0022] Example 2 This embodiment is basically the same as Embodiment 1, except that: The replenishment and receiving control system is divided into two levels: component level and system level. The component level is primarily used for the functional control, status monitoring, and fault alarm of the hose system 1, shipboard rigid piping system 2, pressure monitoring component 3, and liquid cargo compartment component 4. It has a first control terminal and can operate independently or be controlled by the system level. The system level controls the hose system 1, shipboard rigid piping system 2, pressure monitoring component 3, and liquid cargo compartment component 4 to carry out operations as needed. It operates normal replenishment and receiving operations according to the operational sequence, determines which components need adjustment based on logical relationships, assesses whether each component is operating normally, and identifies the need for emergency operation commands. The system level has a second control terminal with control interfaces at the vessel end and the shore / command ship end.

[0023] Example 3 The embodiment takes longitudinal replenishment reception as an example. During the replenishment reception operation, the unmanned surface vessel (USV) is in front, and the sending vessel is behind. Both vessels travel at low speeds and maintain a relatively stable distance between them. The connection sequence of the hose system 1, the onboard rigid piping system 2, the pressure monitoring component 3, and the liquid cargo compartment component 4 in the execution end is shown below. Figure 1After an unmanned vessel submits a resupply request, the resupply receiving operation process is divided into several stages: preparation, pre-sweeping, liquid cargo resupply, sweeping, and final cleanup. Each stage requires the cooperation of a component-level control system. The system-level control system controls the corresponding component-level control systems one by one to carry out the resupply receiving operation.

[0024] Example 4 The control method of the unmanned vessel marine liquid cargo replenishment and receiving assembly system of the present invention carries out replenishment operations according to the following process. The assembly control process and logic relationship are as follows: Figure 2 : S1. Preparation: The supply receiving control system 5 sends a preparation command. The hose reeling and releasing control device in the hose system 1 controls the winch to automatically release the hose. After monitoring that the hose is fully released, it sends a hose release completion signal to the supply receiving control system 5. The sending ship connects the hose to its own pipeline. The valve control device of the rigid pipe system 2 on the ship opens the rigid pipe valve of the liquid cargo compartment to be received, preparing to receive the liquid cargo, and sends the valve opening information back to the supply receiving control system 5. The pressure monitoring component 3 is activated and sends the collected data back to the supply receiving control system 5. The liquid cargo compartment component 4 collects liquid level information, calculates the loading capacity of the liquid cargo compartment structural space, and sends the liquid level information and loading capacity information back to the supply receiving control system 5.

[0025] S2. Pre-scanning line: After the preparation work is completed, the sending ship injects high-pressure air into the hose. After the pressure monitoring component 3 detects that the pipeline pressure is stable, the sending ship stops injecting high-pressure air, and the pipeline pressure decreases accordingly. The pressure monitoring component 3 then sends feedback to the supply receiving control system 5 that the pre-scanning line is normal.

[0026] S3. Receiving Liquid Cargo: After the pre-scanning line is normal, the ship begins supplying liquid cargo. The cargo flows in through the hose, then through the rigid pipe into the liquid cargo compartment structure. The pressure monitoring component 3 monitors the pipeline pressure in real time. Once the pressure stabilizes, the liquid cargo compartment component 4 collects the liquid level information in real time and calculates the compartment loading capacity. It then feeds back the liquid level and loading capacity information to the replenishment and receiving control system 5 in real time. When the pressure monitoring component 3 detects that the compartment hydraulic pressure has reached the upper limit, the liquid cargo compartment component 4 sends a request signal to the replenishment and receiving control system 5 to close the corresponding rigid pipe valve. Subsequently, the replenishment and receiving control system 5 sends a command to the ship's rigid pipe system 2 to close the corresponding valve. When the liquid cargo received reaches the predetermined amount or all receiving compartments are full, the liquid cargo compartment component 4 sends a request signal to the replenishment and receiving control system 5 to end the replenishment and receiving operation.

[0027] S4. Line Sweeping: After completing the liquid cargo receiving operation, the sending vessel injects high-pressure air into the hose again. The pressure monitoring component 3 monitors the pipeline pressure in real time. After detecting a significant change in the pressure signal, the pressure monitoring component 3 sends a line sweeping completion signal to the supply receiving control system 5, and the sending vessel disconnects from the hose.

[0028] S5. Cleanup Operation: The supply receiving control system 5 issues a cleanup command. The hose reeling and extending control device in the hose system 1 controls the winch to automatically retrieve the hose. After monitoring that the hose is fully retrieved, the hose system 1 sends a hose retrieval completion signal to the supply receiving control system 5. The valve control device of the ship's rigid pipe system 2 closes the rigid pipe valve of the receiving liquid cargo compartment and sends the valve closure information to the supply receiving control system 5. The supply receiving control system 5 closes the pressure monitoring component 3. The liquid cargo compartment component 4 collects liquid level information, calculates the compartment loading capacity, and sends the final liquid level information and loading capacity information back to the supply receiving control system 5.

[0029] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

[0030] The contents not described in detail in this specification are existing technologies known to those skilled in the art.

Claims

1. An unmanned vessel marine liquid cargo replenishment and receiving assembly system, comprising a hose system (1), a shipboard rigid pipe system (2), and a liquid cargo compartment assembly (4), characterized in that: It also includes a pressure monitoring component (3) and a supply receiving control system (5). The hose system (1) includes a hose, an interface connected to the shipboard rigid pipe assembly, a reel, and a hose reeling and unloading control device. The shipboard rigid pipe system (2) includes a rigid pipe assembly, a valve assembly, and a valve control device. The pressure monitoring component (3) includes a data acquisition module, a data processing and display control module, and an information transmission interface. The liquid cargo compartment assembly (4) includes a liquid cargo compartment structural space, a liquid level monitoring device, and a liquid level loading capacity calculation and control device. The liquid level monitoring device is equipped with a remote acquisition and information transmission interface, and the valve assembly is equipped with a remote acquisition module and an information transmission and control interface.

2. The unmanned vessel maritime liquid cargo replenishment and receiving assembly system according to claim 1, characterized in that: The hose system (1) is used to release the hose during the resupply reception preparation phase, retrieve the hose after the resupply reception is completed, connect the rigid tube assembly, and receive liquid cargo.

3. The unmanned vessel maritime liquid cargo replenishment and receiving assembly system according to claim 2, characterized in that: The shipboard rigid piping system (2) is used to connect the hose to the liquid cargo compartment, control the on / off of the rigid piping, transfer the liquid cargo received by the hose, and control the flow direction of the liquid cargo.

4. The unmanned vessel maritime liquid cargo replenishment and receiving assembly system according to claim 3, characterized in that: The pressure monitoring component (3) is used to monitor the fluid pressure in the pipeline in real time.

5. The unmanned vessel maritime liquid cargo replenishment and receiving assembly system according to claim 4, characterized in that: The liquid cargo compartment assembly (4) is used to store liquid cargo, monitor liquid level, and monitor and calculate the liquid cargo storage volume in the compartment.

6. The unmanned vessel marine liquid cargo replenishment and receiving assembly system according to claim 5, characterized in that: The supply receiving control system (5) is used to monitor the entire supply receiving process and perform logical control on the entire process.

7. The unmanned vessel maritime liquid cargo replenishment and receiving assembly system according to claim 6, characterized in that: The supply receiving control system (5) is divided into two levels: component level and system level. The component level is used for the functional control, status monitoring and fault alarm of the hose system (1), shipboard hard pipe system (2), pressure monitoring component (3) and liquid cargo compartment component (4). It is equipped with a first control terminal, which can work independently or be controlled by the system level. The system level controls the hose system (1), shipboard hard pipe system (2), pressure monitoring component (3) and liquid cargo compartment component (4) to carry out operations, and runs normal supply receiving operations according to the operation sequence. It judges the adjustment and opening / closing of each link according to the logical relationship, judges whether each link is operating normally and whether an emergency operation command needs to be issued. The system level is equipped with a second control terminal, and control interfaces are provided at the boat end, shore end / command ship end respectively.

8. A control method for an unmanned vessel marine liquid cargo replenishment and receiving assembly system according to claim 7, characterized in that: Includes the following steps: Pre-scan line: After the preparation work is completed, the sending ship pumps high-pressure air into the hose. After the pressure monitoring component (3) detects that the pipeline pressure is stable, the sending ship stops pumping high-pressure air. After the pipeline pressure decreases, the pressure monitoring component (3) sends feedback to the supply receiving control system (5) that the pre-scan line is normal. Receiving liquid cargo: The ship begins supplying liquid cargo, which flows in through the hose and into the liquid cargo compartment structure through the hard pipe. The pressure monitoring component (3) monitors the pipeline pressure in real time. After the pressure stabilizes, the liquid cargo compartment component (4) collects the liquid level information in real time and calculates the compartment loading capacity. It then feeds back the liquid level information and loading capacity information to the replenishment and receiving control system (5) in real time. When the pressure monitoring component (3) detects that the compartment hydraulic pressure has reached the upper limit, the liquid cargo compartment component (4) sends a request signal to the replenishment and receiving control system (5) to close the corresponding hard pipe valve. After receiving the request signal, the replenishment and receiving control system (5) sends a command to the ship's hard pipe system (2) to close the corresponding valve. When the liquid cargo receiving capacity reaches the predetermined amount or all receiving compartments are full, the liquid cargo compartment component (4) sends a request signal to the replenishment and receiving control system (5) to end the replenishment and receiving operation. Line sweeping: The sending vessel injects high-pressure air into the hose again. The pressure monitoring component (3) monitors the pipeline pressure in real time. After detecting a significant change in the pressure signal, the pressure monitoring component (3) sends a line sweeping completion signal to the supply receiving control system (5), and the sending vessel disconnects from the hose.

9. The control method for the unmanned vessel marine liquid cargo replenishment and receiving assembly system according to claim 8, characterized in that: It also includes a preparation step, the specific process of which is as follows: the supply receiving control system (5) sends a preparation command, the hose reeling and releasing control device in the hose system (1) controls the winch to automatically release the hose, and after monitoring that the hose is fully released, it sends a hose release completion signal to the supply receiving control system (5), and the sending ship connects the hose to its own pipeline; the ship's rigid pipe system (2) controls the valve control device to open the rigid pipe valve of the compartment to be received liquid cargo, prepares to receive liquid cargo, and feeds back the valve opening information to the supply receiving control system (5); the pressure monitoring component (3) is started and the collected data is fed back to the supply receiving control system (5); the liquid cargo compartment component (4) collects liquid level information, calculates the liquid cargo compartment structural space loading capacity, and feeds back the liquid level information and loading capacity information to the supply receiving control system (5).

10. The control method for the unmanned vessel marine liquid cargo replenishment and receiving assembly system according to claim 9, characterized in that: It also includes a cleanup operation step, the specific process of which is as follows: the supply receiving control system (5) issues a cleanup command, the hose reeling control device in the hose system (1) controls the winch to automatically reel in the hose, and after monitoring that the hose is fully reeled in place, the hose system (1) sends a signal to the supply receiving control system (5) that the hose has been reeled in; the valve control device of the shipboard rigid pipe system (2) closes the rigid pipe valve of the receiving liquid cargo compartment and sends a feedback valve closing information to the supply receiving control system (5); the supply receiving control system (5) closes the pressure monitoring component (3); the liquid cargo compartment component (4) collects liquid level information, calculates the compartment loading capacity, and sends a feedback final liquid level information and loading capacity information to the supply receiving control system (5).

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