Unmanned ship mooring device and unmanned ship mooring system

Abstract

The present application discloses an unmanned ship mooring device and an unmanned ship mooring system, which relate to the technical field of unmanned ships. The unmanned ship mooring device includes a device bracket, a pneumatic locking magnet, and a horizontal telescopic mechanism. The device bracket is fixed on the unmanned ship and is arranged adjacent to the side wall of the unmanned ship close to the floating dock. The horizontal telescopic mechanism is fixed on the device bracket and is connected to the pneumatic locking magnet for driving, so that when the unmanned ship approaches the floating dock, the pneumatic locking magnet is driven to extend outward through a window opened on the side wall of the unmanned ship close to the floating dock, so as to be magnetically adsorbed on the steel plate arranged on the side of the floating dock. This technical solution can effectively solve the technical problems that the existing unmanned ship mooring method requires manual operation and consumes more time for precise alignment, which affects the user experience.

Description

Technical Field

[0001] The present application relates to the technical field of unmanned ships, and in particular to an unmanned ship mooring device and an unmanned ship mooring system. Background Art

[0002] In the existing technology, the mooring method of unmanned boats is almost always completed by manually using cables, including throwing ropes, hanging cables, tightening cables, winding and knotting. Although this mooring method can also firmly fix the unmanned boat on the dock, it requires manual operation and takes more time to accurately align each mooring process, resulting in a very poor user experience. Utility Model Content

[0003] The embodiments of the present application provide an unmanned ship mooring device and an unmanned ship mooring system, which aim to solve the technical problems that the existing unmanned ship mooring method requires manual operation and consumes more time for precise positioning, affecting the user experience.

[0004] To this end, an embodiment of the present application provides an unmanned ship mooring device, which is used in an unmanned ship, and includes a device bracket, a pneumatic locking magnet, and a horizontal telescopic mechanism. The device bracket is fixed on the unmanned ship and is arranged adjacent to the side wall of the unmanned ship close to the floating dock. The horizontal telescopic mechanism is fixed on the device bracket and is driven and connected to the pneumatic locking magnet, so that when the unmanned ship approaches the floating dock, the pneumatic locking magnet is driven to extend outward through a window opened on the side wall of the unmanned ship close to the floating dock, so as to be magnetically adsorbed on a steel plate arranged on the side of the floating dock.

[0005] Optionally, in some embodiments of the present application, the device bracket includes a column, two flange connecting sleeves, two double cross turntables with springs and two circular discs; the bottom end of the column is fastened connected to one of the double cross turntables and one of the circular discs through a flange connecting sleeve, and is fixed to the lower partition of the unmanned ship through the corresponding circular disc; the top end of the column is fastened connected to another double cross turntable and another of the circular discs through another flange connecting sleeve, and is fixed to the upper partition of the unmanned ship through the corresponding circular disc.

[0006] Optionally, in some embodiments of the present application, the device bracket also includes a rectangular bracket and a U-shaped bracket, the rectangular bracket is fixed to the top of the column through the corresponding flange connecting sleeve, and the rectangular bracket is located directly below the double cross turntable, and the horizontal telescopic mechanism is fixed to one side of the rectangular bracket through the U-shaped bracket.

[0007] Optionally, in some embodiments of the present application, the U-shaped bracket includes two side plates and a bottom plate, the two side plates are arranged at a relative interval, and one end of the two side plates is connected together through the bottom plate, and one end of the two side plates connected to the bottom plate is rotatably connected to one side of the rectangular bracket;

[0008] The device bracket also includes two first triangular steel plates, two second triangular steel plates, a pneumatic cylinder and a connecting plate. The two first triangular steel plates are fixedly arranged at a relative interval at the bottom of the column through the corresponding flange connecting sleeves, and the two first triangular steel plates are fastened to the cylinder tail end of the pneumatic cylinder through a first through pin. The two second triangular steel plates are fixed to the bottom sides of the two side plates through the connecting plate, and the two second triangular steel plates are fastened to the cylinder head end of the pneumatic cylinder through a second through pin.

[0009] Optionally, in some embodiments of the present application, the device bracket also includes a gas filling switch for controlling the gas filling of the pneumatic cylinder and a first sensor for monitoring whether the stroke of the cylinder head end of the pneumatic cylinder is shortened, and the gas filling switch is electrically connected to the first sensor.

[0010] Optionally, in some embodiments of the present application, the horizontal telescopic mechanism includes a multi-stage electric cylinder, which is slidably arranged between the two side plates along its extension direction, and the cylinder head end of the multi-stage electric cylinder is fastened to the pneumatic locking magnet through a ball head structure, and the cylinder tail end of the multi-stage electric cylinder is fixedly connected to the base plate through a spring structure.

[0011] Optionally, in some embodiments of the present application, a long sliding hole is respectively provided on the two side plates, the two long sliding holes are arranged at relative intervals, and each of the long sliding holes is extended along the extension direction of the side plates, and the cylinder body of the multi-stage electric cylinder is penetrated by at least one third through pin, and the two ends of each of the third through pins are respectively slidably clamped in the two long sliding holes, so that the multi-stage electric cylinder is slidably arranged between the two side plates along its extension direction.

[0012] Optionally, in some embodiments of the present application, the pneumatic locking magnet includes a magnet block housing, a magnetic core, two air pipes, at least two first pulleys, two second pulleys, two double-weighted pulleys, and an air storage tank;

[0013] A first pulley is fixedly provided at both ends of each of the third through pins, and a second pulley is fixedly provided at both sides of the rectangular bracket, one side of the magnet block housing is connected to one end of an air pipe, and the other end of the air pipe is connected to one end of the air tank after bypassing at least one of the first pulley, the second pulley and the double counterweight pulley on the corresponding side in sequence, the other side of the magnet block housing is connected to one end of another air pipe, and the other end of the other air pipe is connected to the other end of the air tank after bypassing at least one of the first pulley, the second pulley and the double counterweight pulley on the corresponding side in sequence, and the magnetic core is rotatably provided in the magnet block housing to rotate under the blowing action of the two air pipes.

[0014] Optionally, in some embodiments of the present application, the pneumatic locking magnet further includes a start switch for controlling the opening or closing of the gas tank and a second sensor for detecting whether the spring structure vibrates, and the start switch is electrically connected to the second sensor.

[0015] In addition, the embodiment of the present application further provides an unmanned ship mooring system, comprising a floating dock and an unmanned ship, wherein the unmanned ship has at least two sets of the unmanned ship mooring devices described above, one end of the floating dock is connected to the shore through a hinge pedal, and the floating dock is fixed on at least three fixed columns in a sliding manner;

[0016] The two groups of the unmanned ship mooring devices are respectively arranged at the bow and the stern of the unmanned ship, and are symmetrically arranged about the central axis in the width direction of the unmanned ship. Each group of the unmanned ship mooring devices includes two unmanned ship mooring devices, and the two unmanned ship mooring devices are symmetrically arranged on both sides of the unmanned ship about the central axis in the length direction of the unmanned ship, and the extension direction of the pneumatic locking magnet of each unmanned ship mooring device is arranged facing the wall of the adjacent unmanned ship, and the wall of the unmanned ship is provided with an automatic opening and closing hatch corresponding to the extension position of the pneumatic locking magnet of each unmanned ship mooring device.

[0017] The unmanned ship mooring device and unmanned ship mooring system provided by the technical solution of the present application include a device bracket, a pneumatic locking magnet and a horizontal telescopic mechanism. The device bracket is fixed on the unmanned ship and is arranged adjacent to the side wall of the unmanned ship close to the floating dock. The horizontal telescopic mechanism is fixed on the device bracket and is connected to the pneumatic locking magnet for driving, so that when the unmanned ship approaches the floating dock, the pneumatic locking magnet is driven to extend outward through the window opened on the side wall of the unmanned ship close to the floating dock, so as to be magnetically adsorbed on the steel plate arranged on the side of the floating dock. In this way, through the above-mentioned structural arrangement, when the unmanned ship provided with the above-mentioned unmanned ship mooring device is moored, it is only necessary to drive the corresponding pneumatic locking magnet through the window opened on the side wall of the unmanned ship close to the floating dock through the horizontal telescopic mechanism to extend outward, so as to be magnetically adsorbed on the steel plate arranged on the side of the floating dock, so as to quickly and automatically complete the mooring operation of the unmanned ship. It can be seen that the present technical solution can utilize the design of magnets to attract the steel plates on the side of the floating dock, so that the unmanned boat can be quickly moored without the need for very precise alignment during the automatic mooring process, thereby effectively solving the technical problem that the existing unmanned boat mooring structure requires manual operation and consumes more time for precise alignment, affecting the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying any creative work.

[0019] Figure 1 This is a schematic structural diagram of an unmanned ship mooring device according to an embodiment of the present application;

[0020] Figure 2 for Figure 1 A schematic structural diagram of the unmanned ship mooring device in an extended state;

[0021] Figure 3 for Figure 1 A structural schematic diagram of the unmanned ship mooring device in use status is shown.

[0022] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0023] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0024] It should be noted that all directional indications in the embodiments of the present application (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0025] In addition, the descriptions of "first", "second", etc. in this application are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in this field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0026] In one embodiment, Figures 1 to 3 As shown, an embodiment of the present application provides an unmanned ship mooring device 100, which may specifically include a device bracket 110, a pneumatic locking magnet 120 and a horizontal telescopic mechanism 130. The device bracket 110 is fixed on the unmanned ship 200 and is arranged adjacent to the side wall of the unmanned ship 200 close to the floating dock 300. The horizontal telescopic mechanism 130 is fixed on the device bracket 120 and is driven and connected to the pneumatic locking magnet 120, so that when the unmanned ship 200 approaches the floating dock 300, the pneumatic locking magnet 120 is driven to extend outward through a window opened on the side wall of the unmanned ship 200 close to the floating dock 300, so as to be magnetically adsorbed on a steel plate (not shown) arranged on the side of the floating dock 300.

[0027] It is understandable that the unmanned ship mooring device 100 of the embodiment of the present application can be specifically applied to an unmanned ship, so that when the unmanned ship 200 docks, the unmanned ship mooring device 100 can automatically complete the automatic mooring operation of the unmanned ship 200. Since the unmanned ship mooring device 100 fixes the unmanned ship 200 on the floating dock 300 through the magnetic adsorption of the pneumatic locking magnet 120, the side wall of the floating dock 300 used to dock the unmanned ship 200 should be equipped with a steel plate for magnetic adsorption and fixation.

[0028] In this way, through the above-mentioned structural setting, when the ship equipped with the above-mentioned unmanned ship mooring device 100 is moored, it is only necessary to drive the corresponding pneumatic locking magnet 120 through the window opened on the side wall of the unmanned ship 200 close to the floating dock 300 through the horizontal telescopic mechanism 130 to extend outward, and magnetically adsorb on the steel plate set on the side of the floating dock 300, so that the mooring operation of the unmanned ship 200 can be completed quickly and automatically. It can be seen that the technical solution in the embodiment of the present application can use the design of magnets to attract the steel plate on the side of the floating dock, so that the unmanned ship 200 can achieve rapid mooring without very precise alignment during the automatic mooring process, thereby effectively solving the technical problems that the existing unmanned ship mooring structure requires manual operation and consumes more time for precise alignment, which affects the user experience.

[0029] In some examples, such as Figures 1 to 3 As shown, the device bracket 110 may specifically include a column 111, two flange connection sleeves 112, two double cross turntables 113 with springs, and two discs 114. The bottom end of the column 111 is fastened to a double cross turntable 113 and a disc 114 through a flange connection sleeve 112, and is fixed to the lower bulkhead 210 of the unmanned ship 200 through the corresponding disc 114. The top end of the column 111 is fastened to another double cross turntable 113 and another disc 114 through another flange connection sleeve 112, and is fixed to the upper bulkhead (not shown) of the unmanned ship 200 through the corresponding disc 114. In this way, the above-mentioned structural arrangement can make the entire device bracket 110 more firmly fixed in the unmanned ship. At the same time, the double fixing design of the column 111 and the upper and lower discs 114 respectively fixed to the upper and lower partitions of the unmanned boat 200 can further reduce the use space of the device under the same force and improve the space utilization rate. In addition, the double cross turntables 113 with springs arranged on the upper and lower sides of the column 111 can play a front and rear buffering role when the unmanned boat 200 is affected by the water flow and produces a front and rear relative displacement with the floating dock 300 after the unmanned boat 200 is moored.

[0030] In some examples, such as Figures 1 to 3As shown, the device bracket 110 also includes a rectangular bracket 115 and a U-shaped bracket 116. The rectangular bracket 115 is fixedly mounted on the top of the column 111 through the corresponding flange connection sleeve 112, and the rectangular bracket 115 is located directly below the double cross turntable 113. The horizontal telescopic mechanism 130 is fixedly mounted on one side of the rectangular bracket 115 through the U-shaped bracket 116. In this way, the horizontal telescopic mechanism 130 can be more flexibly installed and fixed on the device bracket 100 through the above-mentioned structural arrangement. Further, the U-shaped bracket 116 can specifically include two side plates (not shown in the figure) and a bottom plate (not shown in the figure), the two side plates are arranged at a relative interval, and one end of the two side plates is connected together through the bottom plate, and one end of the two side plates connected to the bottom plate is rotatably connected to one side of the rectangular bracket. The device bracket 110 also includes two first triangular steel plates 1171, two second triangular steel plates 1172, a pneumatic cylinder 118 and a connecting plate 119. The two first triangular steel plates 1171 are fixedly arranged at the bottom of the column 111 at a relative interval through the corresponding flange connection sleeves 112, and the two first triangular steel plates 1171 are fastened to the cylinder tail end of the pneumatic cylinder 118 through a first through pin (not shown), and the two second triangular steel plates 1172 are fixedly arranged on the bottom side of the two side plates through the connecting plate 119, and the two second triangular steel plates 1172 are fastened to the cylinder head end of the pneumatic cylinder 118 through a second through pin (not shown). It can be understood that in order to enhance the stability of the U-shaped bracket 116, the top sides of the two side plates are also provided with connecting plates 119, so that the top sides of the two side plates are also connected together through the connecting plates 119. In this way, the support design of the pneumatic cylinder 118 can play a role in ups and downs buffering for the relative displacement caused by the ups and downs difference between the unmanned boat 200 and the floating dock 300 caused by the action of water waves after the unmanned boat 200 is moored. At the same time, the problem of the pneumatic locking magnet falling with the increase of torque when it is extended can be avoided under the control of the pneumatic cylinder 118. At this time, the device bracket 100 also includes a gas filling switch (not shown) for controlling the gas filling of the pneumatic cylinder 118 and a first sensor (not shown) for monitoring whether the stroke of the cylinder head end of the pneumatic cylinder 118 is shortened. The gas filling switch is electrically connected to the first sensor. In this way, when the first sensor detects that the stroke of the cylinder head end of the pneumatic cylinder 118 is shortened, its gas filling switch can automatically start the gas filling working state of the pneumatic cylinder 118 to maintain the telescopic direction of the horizontal telescopic mechanism 130 parallel to the upper and lower partitions of the unmanned boat 200.

[0031] In some examples, such as Figures 1 to 3As shown, the horizontal telescopic mechanism 130 includes a multi-stage electric cylinder, which is slidably arranged between the two side plates along its extension direction, and the cylinder head end of the multi-stage electric cylinder is fastened to the pneumatic locking magnet 120 through a ball head structure (not shown), and the cylinder tail end of the multi-stage electric cylinder is fixedly connected to the bottom plate through a spring structure 140. In this way, the structural design of the spring structure 140 can play a buffering role when the unmanned boat 200 is moored and the unmanned boat 200 is pushed sideways by the water flow and produces a lateral relative displacement. At the same time, the horizontal telescopic mechanism 130 uses a multi-stage electric cylinder as a power source, which increases the response speed compared to a hydraulic cylinder as a power source, and increases the stability compared to a differential connecting rod as a power source. Furthermore, a long sliding hole is respectively provided on the two side plates, the two long sliding holes are arranged at a relative interval, and each long sliding hole is extended along the extension direction of the side plate, and the cylinder body of the multi-stage electric cylinder is provided with at least one third through pin, and the two ends of each third through pin are respectively slidably clamped in the two long sliding holes, so that the multi-stage electric cylinder is slidably arranged between the two side plates along the extension direction thereof. In this way, through the above-mentioned structural arrangement, while the multi-stage electric cylinder is slidably arranged between the two side plates along the extension direction thereof, the two side plates can realize stable support of the multi-stage electric cylinder.

[0032] In some examples, such as Figures 1 to 3As shown, the pneumatic locking magnet 120 includes a magnet block housing 121 , a magnetic core (not shown), two air pipes 122 , at least two first pulleys 123 , two second pulleys 124 , two double-weight pulleys 125 and an air storage tank 126 . A first pulley 123 is fixedly disposed at both ends of each third through pin, a second pulley 124 is fixedly disposed at both sides of the rectangular bracket 115, one side of the magnet block housing 121 is connected to one end of an air pipe 122, and the other end of the air pipe 122 is connected to one end of an air tank 126 after bypassing at least one first pulley 123, second pulley 124 and double counterweight pulley 125 on the corresponding side in sequence, the other side of the magnet block housing 121 is connected to one end of another air pipe 122, and the other end of the other air pipe 122 is connected to the other end of the air tank 126 after bypassing at least one first pulley 123, second pulley 124 and double counterweight pulley 125 on the corresponding side in sequence, and the magnetic core is rotatably disposed in the magnet block housing 121 to rotate under the blowing action of the two air pipes 122. It can be understood that the air tank 126 can be specifically fixed to the side of the fixed bracket 115 away from the U-shaped bracket 116. In this way, the above-mentioned structure can be set so that the magnetism of the surface of the magnet block shell 121 facing the floating dock 300 can change when the magnetic core is rotated by the blowing action of the two air pipes 122, so that its magnetism changes back and forth between the opposite magnetic poles that cancel each other out and the same magnetic poles that attract the steel plate on the side of the floating dock. Furthermore, the design of the pneumatic locking magnet can make the magnet, on the basis of achieving automation, save the problem of continuous power consumption after attraction compared to the electromagnet. At the same time, the counterweight design of the double counterweight pulley 125 can keep the two air pipes 122 in a straightened state when the pneumatic locking magnet 120 is extended and retracted, which to a certain extent avoids the phenomenon that the air pipe 122 is not completely retracted when it is contracted.

[0033] In some examples, such as Figures 1 to 3As shown, the pneumatic locking magnet 120 further includes a start switch (not shown) for controlling the opening or closing of the gas tank 126 and a second sensor (not shown) for detecting whether the spring structure 140 vibrates, and the start switch is electrically connected to the second sensor. In this way, through the above-mentioned structural setting, when the unmanned ship 200 docks, the entire unmanned driving system will enter the docking mode, and the hatches of all the side hatches on the docked side will automatically open, and the unmanned ship mooring device 100 corresponding to the opened hatch will start the multi-stage electric cylinder to extend, so that the pneumatic locking magnet 120 extends, and when the pneumatic locking magnet 120 hits the steel plate on the side of the floating dock 300, the spring structure 140 at the cylinder tail end of the multi-stage electric cylinder vibrates, which is detected by the second sensor and fed back to the start switch to control the opening of the air tank 126, so that the magnetic core inside the magnet block shell 121 rotates, so that the magnetism of the surface of the magnet block shell 121 facing the floating dock 300 is transformed from opposite-direction magnetic poles that cancel each other out to same-direction magnetic poles that can attract the steel plate on the side of the floating dock 300.

[0034] In one embodiment, Figure 3 As shown, an embodiment of the present application also provides an unmanned ship mooring system, which includes a floating dock 300 and an unmanned ship 200, the unmanned ship 200 having at least two sets of the above-mentioned unmanned ship mooring devices 100, one end of the floating dock 300 is connected to the shore 500 through a hinge pedal 400, and the floating dock 300 is fixed on at least three fixed columns 600 in a sliding manner. Two groups of unmanned ship mooring devices 100 are respectively arranged at the bow and stern of the unmanned ship 200, and are symmetrically arranged about the central axis in the width direction of the unmanned ship 200. Each group of unmanned ship mooring devices 100 includes two unmanned ship mooring devices 100, and the two unmanned ship mooring devices 100 are symmetrically arranged on both sides of the unmanned ship 200 about the central axis in the length direction of the unmanned ship, and the extension direction of the pneumatic locking magnet 120 of each unmanned ship mooring device 100 is arranged directly facing the ship wall of the adjacent unmanned ship 200, and the ship wall of the unmanned ship 200 is provided with an automatic opening and closing hatch corresponding to the extension position of the pneumatic locking magnet 120 of each unmanned ship mooring device 100. Since the unmanned ship mooring system uses the unmanned ship mooring device 100 in the above embodiment, it has the same technical effect as the above unmanned ship mooring device 100, which will not be repeated here.

[0035] The above description is only a preferred embodiment of the present application, and does not limit the patent scope of the present application. All equivalent structural changes made by using the contents of the present application specification and drawings under the inventive concept of the present application, or directly / indirectly applied in other related technical fields are included in the patent protection scope of the present application.

Claims

1. An unmanned ship mooring device, used in an unmanned ship, characterized in that: It includes a device bracket, a pneumatic locking magnet and a horizontal telescopic mechanism. The device bracket is fixed on the unmanned boat and is arranged adjacent to the side wall of the unmanned boat close to the floating dock. The horizontal telescopic mechanism is fixed on the device bracket and is drivingly connected to the pneumatic locking magnet, so that when the unmanned boat approaches the floating dock, the pneumatic locking magnet is driven to extend outward through a window opened on the side wall of the unmanned boat close to the floating dock, so as to be magnetically adsorbed on a steel plate arranged on the side of the floating dock.

2. The unmanned ship mooring device according to claim 1, characterized in that: The device bracket includes a column, two flange connection sleeves, two double cross turntables with springs and two circular discs; the bottom end of the column is fastened connected to one of the double cross turntables and one of the circular discs through a flange connection sleeve, and is fixed to the lower bulkhead of the unmanned boat through the corresponding circular disc; the top end of the column is fastened connected to another double cross turntable and another of the circular discs through another flange connection sleeve, and is fixed to the upper bulkhead of the unmanned boat through the corresponding circular disc.

3. The unmanned ship mooring device according to claim 2, characterized in that: The device bracket also includes a rectangular bracket and a U-shaped bracket. The rectangular bracket is fixed to the top of the column through the corresponding flange connecting sleeve, and the rectangular bracket is located directly below the double cross turntable. The horizontal telescopic mechanism is fixed to one side of the rectangular bracket through the U-shaped bracket.

4. The unmanned ship mooring device according to claim 3, characterized in that: The U-shaped bracket includes two side plates and a bottom plate, the two side plates are arranged at a relative interval, and one end of the two side plates is connected together through the bottom plate, and one end of the two side plates connected to the bottom plate is rotatably connected to one side of the rectangular bracket; The device bracket also includes two first triangular steel plates, two second triangular steel plates, a pneumatic cylinder and a connecting plate. The two first triangular steel plates are fixedly arranged at a relative interval at the bottom of the column through the corresponding flange connecting sleeves, and the two first triangular steel plates are fastened to the cylinder tail end of the pneumatic cylinder through a first through pin. The two second triangular steel plates are fixed to the bottom sides of the two side plates through the connecting plate, and the two second triangular steel plates are fastened to the cylinder head end of the pneumatic cylinder through a second through pin.

5. The unmanned ship mooring device according to claim 4, characterized in that: The device bracket also includes a gas filling switch for controlling the gas filling of the pneumatic cylinder and a first sensor for monitoring whether the stroke of the cylinder head end of the pneumatic cylinder is shortened, and the gas filling switch is electrically connected to the first sensor.

6. The unmanned ship mooring device according to claim 4, characterized in that: The horizontal telescopic mechanism includes a multi-stage electric cylinder, which is slidably arranged between the two side plates along its extension direction, and the cylinder head end of the multi-stage electric cylinder is fastened to the pneumatic locking magnet through a ball head structure, and the cylinder tail end of the multi-stage electric cylinder is fixedly connected to the base plate through a spring structure.

7. The unmanned ship mooring device according to claim 6, characterized in that: The two side plates are respectively provided with a long sliding hole, the two long sliding holes are arranged at relative intervals, and each of the long sliding holes is extended along the extension direction of the side plates. The cylinder body of the multi-stage electric cylinder is penetrated by at least one third through pin, and the two ends of each of the third through pins are respectively slidably clamped in the two long sliding holes, so that the multi-stage electric cylinder is slidably arranged between the two side plates along its extension direction.

8. The unmanned ship mooring device according to claim 7, characterized in that: The pneumatic locking magnet comprises a magnet block housing, a magnetic core, two air pipes, at least two first pulleys, two second pulleys, two double-weighted pulleys and an air storage tank; A first pulley is fixedly provided at both ends of each of the third through pins, and a second pulley is fixedly provided at both sides of the rectangular bracket, one side of the magnet block housing is connected to one end of an air pipe, and the other end of the air pipe is connected to one end of the air tank after bypassing at least one of the first pulley, the second pulley and the double counterweight pulley on the corresponding side in sequence, the other side of the magnet block housing is connected to one end of another air pipe, and the other end of the other air pipe is connected to the other end of the air tank after bypassing at least one of the first pulley, the second pulley and the double counterweight pulley on the corresponding side in sequence, and the magnetic core is rotatably provided in the magnet block housing to rotate under the blowing action of the two air pipes.

9. The unmanned ship mooring device according to claim 8, characterized in that: The pneumatic locking magnet further includes a start switch for controlling the opening or closing of the gas tank and a second sensor for detecting whether the spring structure vibrates, and the start switch is electrically connected to the second sensor.

10. An unmanned ship mooring system, characterized in that: It comprises a floating dock and an unmanned ship, wherein the unmanned ship has at least two sets of unmanned ship mooring devices according to any one of claims 1 to 9, one end of the floating dock is connected to the shore through a hinge pedal, and the floating dock is fixed on at least three fixed columns in a sliding manner; The two groups of the unmanned ship mooring devices are respectively arranged at the bow and the stern of the unmanned ship, and are symmetrically arranged about the central axis in the width direction of the unmanned ship. Each group of the unmanned ship mooring devices includes two unmanned ship mooring devices, and the two unmanned ship mooring devices are symmetrically arranged on both sides of the unmanned ship about the central axis in the length direction of the unmanned ship, and the extension direction of the pneumatic locking magnet of each unmanned ship mooring device is arranged facing the wall of the adjacent unmanned ship, and the wall of the unmanned ship is provided with an automatic opening and closing hatch corresponding to the extension position of the pneumatic locking magnet of each unmanned ship mooring device.

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