Unmanned replenishment ship and control method therefor

Abstract

An unmanned replenishment ship and a control method therefor. The unmanned replenishment ship (100) comprises a ship body (10), a cable throwing mechanism (30), a docking mechanism (50), and a positioning mechanism (70); the ship body (10) is provided with a cabin (10A) and a hatchway (10B) which are communicated with each other, and a replenishment compartment is arranged in the cabin (10A); the cable throwing mechanism (30) is arranged on the ship body (10), and throwing guns (31) are movably arranged on the cable throwing mechanism (30); one end of the docking mechanism (50) is connected to the replenishment compartment, and the other end of the docking mechanism (50) is connected to the throwing guns (31); the positioning mechanism (70) is arranged on the ship body (10), and the positioning mechanism (70) is in signal connection with the cable throwing mechanism (30); the cable throwing mechanism (30) triggers and launches the throwing guns (31) on the basis of a positioning signal of the positioning mechanism (70), so that the throwing guns (31) are away from the ship body (10) so as to drive the docking mechanism (50) to move to a replenishment target ship (900); and the positioning mechanism (70) is matched with the cable throwing mechanism (30) to trigger and launch the throwing guns (31). The manual operation is not needed in the whole replenishment process, so that the labor cost is reduced, and the working safety is improved.

Description

Unmanned supply ship and control method applied to unmanned supply ship

[0001] This application claims priority to the Chinese patent application filed with the Patent Office of China on January 5, 2024, with application number 202410022326.8 and invention name “Unmanned Supply Ship and Control Method for Unmanned Supply Ship”, the entire contents of which are incorporated by reference into the application. Technical Field

[0002] The present application relates to the field of marine replenishment technology, and in particular to an unmanned replenishment ship and a control method applied to the unmanned replenishment ship. Background Art

[0003] Based on the needs of the shipping industry and technological development trends, traditional offshore supply vessels require manual operation and monitoring when performing liquid cargo transportation tasks. However, this method has many limitations, such as high labor costs, work safety, and work efficiency.

[0004] With the rapid development of automation technology and unmanned vessels, researchers have begun exploring how to apply automation to the liquid cargo transportation process of offshore supply vessels. There is an urgent need for an unmanned vessel that can incorporate automated transportation equipment to automatically complete the tasks of loading, unloading, and transporting liquid cargo. Technical issues

[0005] The main purpose of this application is to provide an unmanned supply vessel, which aims to solve the technical problem that existing ship offshore supply requires manual operation under monitoring conditions, thereby generating unnecessary manpower costs and posing work safety risks. Technical Solutions

[0006] To achieve the above objectives, the unmanned supply vessel proposed in this application includes:

[0007] A hull, wherein the hull is provided with a connected cabin and hatch, and a supply warehouse is provided in the cabin;

[0008] A cable throwing mechanism, the cable throwing mechanism being arranged on the hull and being provided with a throwing gun;

[0009] A docking mechanism, one end of which is connected to the supply bin, and the other end of which is connected to the lance; and

[0010] A positioning mechanism, the positioning mechanism being provided on the hull and being signal-connected to the cable-throwing mechanism;

[0011] The cable throwing mechanism triggers and ejects the throwing gun according to the positioning signal of the positioning mechanism, so that the throwing gun moves away from the hull, thereby driving the docking mechanism to move to the target supply ship.

[0012] In one embodiment, the throwing gun is a metal piece, and the cable throwing mechanism includes:

[0013] A mounting seat, the mounting seat being provided on the hull; and

[0014] The transmitter is rotatably connected to the mounting base, the positioning mechanism is provided on the transmitter and is connected to the transmitter signal, the transmitter is provided with an electromagnetic track, and the throwing gun is movably provided in the electromagnetic track.

[0015] In one embodiment, the transmitter comprises:

[0016] a projection frame, the projection frame being rotatably connected to the mounting seat, the positioning mechanism being provided on the projection frame; and

[0017] The ejection arm is rotatably connected to the ejection frame, the rotation axis of the ejection arm is set at an angle to the rotation axis of the ejection frame, the ejection arm is provided with an ejection chamber, and at least part of the chamber wall of the ejection chamber is provided with an electromagnetic coil to form the electromagnetic track.

[0018] In one embodiment, the launcher further comprises a rotating shaft, wherein the rotating shaft is rotatably connected to the launching frame;

[0019] There are two ejection arms, each of which is located at both ends of the rotating shaft, and each of which is perpendicular to the rotating shaft.

[0020] There are two ejection guns, one of which is movably arranged in one ejection chamber.

[0021] In one embodiment, the docking mechanism includes:

[0022] A guide assembly, one end of which is connected to the hull and the other end of which is connected to the lance; and

[0023] A docking assembly, one end of which is connected to the supply bin and the other end of which is slidably connected to the guide assembly;

[0024] The lance drives the guide assembly to move to the target vessel for supply, and the docking assembly moves along the guide assembly to the target vessel for supply.

[0025] In one embodiment, the guide assembly comprises:

[0026] a reeling rack, the reeling rack being mounted on the hull and disposed adjacent to the hatch; and

[0027] A guide cable, one end of the guide cable is fixed to the winding rack, the guide cable is wound on the winding rack, the other end of the guide cable is connected to the throwing gun, and the docking assembly is slidably suspended on the guide cable.

[0028] In one embodiment, the docking assembly includes:

[0029] a conveying frame, the conveying frame being slidably connected to the guide cable; and

[0030] A docking pipe, one end of which is connected to the supply bin, and the other end of which is detachably fixed to the conveying rack.

[0031] In one embodiment, the conveying frame includes a suspension claw and two sliding wheels, and the suspension claw clamps and fixes the docking pipe;

[0032] The guide cables are provided with two, and one of the sliding wheels is slidably connected to one of the guide cables;

[0033] The docking assembly further includes a driving member, which is connected to the two sliding wheels and synchronously drives the two sliding wheels to slide relative to the two guide cables, so as to transfer the docking tube to the target supply vessel.

[0034] In one embodiment, the target supply vessel is provided with a receiver, and the positioning mechanism includes:

[0035] a picture capturing module, the picture capturing module being used to collect the position information of the receiver;

[0036] a distance measuring module, configured to obtain distance information between the receiver and the cable throwing mechanism; and

[0037] A speed measurement module is used to obtain the running speed of the supply object.

[0038] This application also proposes a control method for an unmanned supply ship, the control method comprising the following steps:

[0039] Controlling the ship to sail towards the target supply vessel;

[0040] Obtain navigation information of target supply vessels;

[0041] adjusting the navigation parameters of the vessel according to the navigation information;

[0042] launching a cable-throwing mechanism according to the navigation information to connect the docking mechanism with the target supply vessel to perform a supply operation;

[0043] Recover the cable throwing mechanism and the docking mechanism. Beneficial effects

[0044] The unmanned supply ship of the technical solution of the present application includes a hull, a cable-throwing mechanism, a docking mechanism, and a positioning mechanism. The hull is provided with interconnected cabins and hatches, a supply bunker is provided in the cabin, the cable-throwing mechanism is provided on the hull, a lance is provided on the cable-throwing mechanism, one end of the docking mechanism is connected to the supply bunker, and the other end is connected to the lance. The positioning mechanism is provided on the hull, and the positioning mechanism is connected to the cable-throwing mechanism signal. The cable-throwing mechanism triggers and ejects the lance according to the positioning signal of the positioning mechanism, so that the lance moves away from the hull, thereby driving the docking mechanism to move to the target supply ship. The positioning mechanism cooperates with the cable-throwing mechanism to trigger and eject the lance. No manual operation is required throughout the process, which can effectively reduce labor costs and improve work safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. 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.

[0046] FIG1 is a schematic diagram of an automatic replenishment process of an unmanned replenishment vessel according to an embodiment of the present application;

[0047] FIG2 is a schematic diagram of the assembly structure of the cable throwing mechanism and the docking mechanism of an embodiment of the unmanned supply vessel of the present application;

[0048] FIG3 is a schematic structural diagram of a cable-throwing mechanism of an embodiment of an unmanned supply vessel of the present application;

[0049] FIG4 is a schematic diagram of a partial structure of a docking mechanism of another embodiment of the unmanned supply vessel of the present application;

[0050] FIG5 is a schematic diagram of the structure of the docking mechanism of the unmanned supply ship of the present application during transportation with reference to an embodiment of FIG1 .

[0051] Description of Figure Numbers:

[0052] Reference number name Reference number name Reference number name 100 unmanned supply vessel 30 cable throwing mechanism 50 docking mechanism 10 hull 31 throwing gun 51 guide assembly 10A cabin 32 mounting seat 52 docking assembly 10B hatch 33 launcher 511 reeling rack 331 ejection rack 33A ejection chamber 512 guide cable 332 ejection arm 33B electromagnetic track 521 conveying rack 333 rotating shaft 5211 suspension claw 522 docking tube 900 supply target vessel 5212 sliding wheel 70 positioning mechanism

[0053] The realization of the objectives, functional features and advantages of this application will be further explained in conjunction with embodiments and with reference to the accompanying drawings. Modes for Carrying Out the Invention

[0054] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0055] 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 various components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0056] In this application, unless otherwise specified or limited, the terms "connection" and "fixation" should be understood in a broad sense. For example, "fixation" can mean fixed connection, detachable connection, or integration; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; internal communication between two elements or interaction between two elements, unless otherwise specified. For those skilled in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0057] In addition, the descriptions of "first", "second", etc. in this application are only 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 such features. In addition, the meaning of "and / or" appearing throughout the text is to include three parallel solutions. Taking "A and / or B as an example", it includes solution A, or solution B, or a solution in which both A and B are satisfied. In addition, the technical solutions between the various embodiments can be combined with each other, but this must be based on the ability of ordinary technicians in this field to implement. When the combination of technical solutions is mutually contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0058] Based on the needs of the shipping industry and technological development trends, traditional offshore supply vessels require manual operation and monitoring when performing liquid cargo transportation tasks. However, this method has many limitations, such as high labor costs, work safety, and work efficiency.

[0059] With the rapid development of automation technology and unmanned vessels, researchers have begun exploring how to apply automation to the liquid cargo transportation process of offshore supply vessels. There is an urgent need for an unmanned vessel that can incorporate automated transportation equipment to automatically complete the tasks of loading, unloading, and transporting liquid cargo.

[0060] This application proposes an unmanned supply vessel 100 .

[0061] 1 to 5 , FIG1 is a schematic diagram of the automatic replenishment process of an unmanned supply vessel 100 according to an embodiment of the present invention; FIG2 is a schematic diagram of the assembly structure of the cable-throwing mechanism 30 and the docking mechanism 50 according to an embodiment of the present invention; FIG3 is a schematic diagram of the structure of the cable-throwing mechanism 30 according to an embodiment of the present invention; FIG4 is a schematic diagram of the partial structure of the docking mechanism 50 according to another embodiment of the present invention; and FIG5 is a schematic diagram of the structure of the docking mechanism 50 according to an embodiment of the present invention while being transported with reference to FIG1 .

[0062] In the embodiment of the present application, the unmanned supply vessel 100 includes a shell, as shown in Figures 1 to 3. The unmanned supply vessel 100 includes a hull 10, a cable-releasing mechanism 30, a docking mechanism 50, and a positioning mechanism 70. The hull 10 is provided with a connected cabin 10A and a hatch 10B. The cabin 10A is provided with a supply compartment. The cable-releasing mechanism 30 is provided on the hull 10 and is provided with a movably disposed lance 31. One end of the docking mechanism 50 is connected to the supply compartment, and the other end is connected to the lance 31. The positioning mechanism 70 is provided on the hull 10 and is signal-connected to the cable-releasing mechanism 30. The cable-releasing mechanism 30 is triggered and ejects the lance 31 based on the positioning signal from the positioning mechanism 70, causing the lance 31 to move away from the hull 10, thereby driving the docking mechanism 50 to move to the target supply vessel 900.

[0063] The unmanned supply vessel 100 of the present invention includes a hull 10, a cable-releasing mechanism 30, a docking mechanism 50, and a positioning mechanism 70. The hull 10 is provided with a connected cabin 10A and a hatch 10B. The cabin 10A houses a supply compartment. The cable-releasing mechanism 30 is mounted on the hull 10 and includes a lance 31. One end of the docking mechanism 50 is connected to the supply compartment, and the other end is connected to the lance 31. A positioning mechanism 70 is mounted on the hull 10 and is signal-connected to the cable-releasing mechanism 30. The cable-releasing mechanism 30 triggers and ejects the lance 31 based on a positioning signal from the positioning mechanism 70, moving the lance 31 away from the hull 10 and driving the docking mechanism 50 to move to the target vessel 900. The positioning mechanism 70, in conjunction with the cable-releasing mechanism 30, triggers and ejects the lance 31, eliminating the need for manual operation. This effectively reduces labor costs and improves work safety.

[0064] It is understood that the unmanned supply vessel 100 can be used to resupply a target vessel 900 with liquid cargo, which can be fuel, fresh water, or other liquid supplies. The hull 10 is equipped with a common hatch 10B or separate hatches 10B for different supplies. Different supply compartments are located within the cabin 10A, corresponding to different supplies. Each supply compartment can be equipped with a corresponding cable-throwing mechanism 30, a positioning mechanism 70, and a docking mechanism 50 to prevent contamination caused by mixing different types of supplies through the same docking mechanism 50. The following uses the transportation of a specific liquid cargo as an example to illustrate the structure and coordination of these mechanisms.

[0065] Furthermore, the cable-jetting mechanism 30 ejects the lance 31 based on electromagnetic catapults. The basic principle is to convert electrical energy into mechanical energy through electromagnetic induction, thereby accelerating or increasing the speed of the lance 31, causing it to detach from the hull 10 and fly toward the target supply vessel 900. The basic principle of electromagnetic catapults is to convert electrical energy into mechanical energy through electromagnetic induction, thereby accelerating or increasing the speed of the lance 31, thereby achieving the ejection effect.

[0066] As shown in Figures 2 and 3, in one embodiment, the lance 31 is a metal component, and the cable-casting mechanism 30 includes a mounting base 32 and a transmitter 33. The mounting base 32 is mounted on the hull 10, and the transmitter 33 is rotatably connected to the mounting base 32. The positioning mechanism 70 is mounted on the transmitter 33 and is signal-connected to the transmitter 33. The transmitter 33 is provided with an electromagnetic track 33B, and the lance 31 is movably mounted within the electromagnetic track 33B.

[0067] In this embodiment, the cable-throwing mechanism 30 is detachably mounted on the hull 10. The cable-throwing mechanism 30 includes a mounting base 32, a launcher 33, and a lance 31 movably mounted within the launcher 33. An electromagnetic track 33B is mounted within the launcher 33. The lance 31 is a metal component, with one end of the lance 31 positioned within the electromagnetic track 33B and the other end extending outside the electromagnetic track 33B. The docking mechanism 50 is connected to the lance 31. A receiver is mounted on the deck of the target vessel 900, and a positioning mechanism 70 is provided with a position identifier to identify the specific location of the receiver, facilitating the lance 31 to accurately locate the launch endpoint. A hook-shaped fixture is provided at the end of the lance 31 extending outside the electromagnetic track 33B, which connects to the receiver of the target vessel 900 after being launched. Lifting the lance 31 drives the docking mechanism 50 to fly.

[0068] Furthermore, the lance 31 is a magnetically conductive metal member, or an electromagnetic ring is wound around the lance 31, resulting in a magnetically generated magnetic field. When the electromagnetic track 33B is energized, it generates an electromagnetism. The electromagnetic track 33B is configured based on the electromagnetic catapult system. When energized, the electromagnetic track 33B generates an electromagnetism field that is opposite to the magnetically generated magnetic field of the lance 31. The repulsion between the two magnetic poles provides a launching force for the lance 31, automatically ejecting it and detaching it from the hull 10. After detaching from the hull 10, the lance 31 drives the docking mechanism 50 toward the target supply vessel 900.

[0069] In one embodiment, the launcher 33 includes a launcher frame 331 and a launch arm 332. The launcher frame 331 is rotatably connected to the mounting base 32. The positioning mechanism 70 is disposed on the launcher frame 331. The launch arm 332 is rotatably connected to the launcher frame 331. The rotation axis of the launch arm 332 is arranged at an angle to the rotation axis of the launcher frame 331. The launch arm 332 is provided with a launch chamber 33A. At least a portion of the chamber wall of the launch chamber 33A is provided with an electromagnetic coil to form an electromagnetic track 33B.

[0070] In this embodiment, the mounting base 32 is fixed to the hull 10, the ejection frame 331 is rotatably connected to the mounting base 32, and the ejection arm 332 is mounted on the ejection frame 331 and rotatably connected to the ejection frame 331. The rotation axis of the ejection arm 332 is arranged at an angle to the rotation axis of the ejection frame 331. The ejection frame 331 rotates relative to the mounting base 32, causing the ejection frame 331 to drive the positioning mechanism 70 and the ejection arm 332 to rotate in the horizontal plane, thereby quickly locating the position of the target supply vessel 900. The relative rotation of the ejection arm 332 and the ejection frame 331 adjusts the pitch angle of the ejection arm 332.

[0071] The ejection arm 332 is provided with an ejection chamber 33A. At least a portion of the chamber wall of the ejection chamber 33A is provided with an electromagnetic coil to form an electromagnetic track 33B. Prior to firing, one end of the lance 31 is relatively fixed within the ejection chamber 33A. The end of the lance 31, equipped with a hook-type retainer, extends out of the ejection chamber 33A. The ejection chamber 33A extends parallel to the length of the ejection arm 332. The length of the ejection arm 332 corresponds to the length of the electromagnetic track 33B, which in turn corresponds to the length of the lance 31.

[0072] The rotation axis of the ejection arm 332 is set at 90 degrees to the rotation axis of the ejection frame 331, the rotation plane of the ejection frame 331 relative to the mounting frame is set to be a horizontal plane, and the rotation plane of the ejection arm 332 relative to the ejection frame 331 is set to be a vertical plane. Adjusting the pitch angle of the ejection arm 332 adjusts the ejection angle of the ejection gun 31, thereby controlling the horizontal movement distance of the ejection gun 31 so that the ejection gun 31 can accurately reach the receiver of the target supply ship 900.

[0073] Specifically, the ejection chamber 33A is equipped with an electromagnetic ejection system, which mainly includes four parts: a power supply system, a capacitor energy storage system, a conversion system, and a launch system. When the power supply system is powered, the capacitor stores electrical energy, and the inductor generates a magnetic field. Subsequently, when the switch is closed, the electrical energy in the capacitor flows into the inductor through the wire, forming an instantaneous strong current, which in turn generates a strong magnetic field. This strong magnetic field interacts with the electromagnetic ring on the lance 31 to generate an electromagnetic force, which converts electrical energy into kinetic energy through the principle of electromagnetic induction, thereby accelerating the lance 31 to take off and improving the reliability of the lance 31. The position recognition of the positioning mechanism 70 is used to quickly locate the target supply ship 900 and improve the accuracy of the landing position of the lance 31.

[0074] It can be understood that the electromagnetic coil is a monopole induction coil with fast response and small size, which can be accommodated in the ejection chamber 33A to improve the efficiency of electromagnetic ejection.

[0075] Furthermore, a positioning bin is provided on the ejection frame 331, and a positioning mechanism 70 is provided in the positioning bin. The positioning mechanism 70 rotates in the horizontal plane along with the ejection frame 331. During the rotation process, the positioning mechanism 70 and the ejection frame 331 rotate synchronously in the horizontal plane, so that the positioning mechanism 70 and the ejection frame 331 are relatively stationary in the horizontal plane, thereby improving the ejection orientation accuracy of the ejection gun 31 provided in the ejection frame 331.

[0076] In one embodiment, the launcher 33 further includes a rotating shaft 333, which is rotatably connected to the ejection frame 331; two ejection arms 332 are provided, and the two ejection arms 332 are respectively provided at both ends of the rotating shaft 333, and the two ejection arms 332 are respectively provided perpendicular to the rotating shaft 333; two ejection guns 31 are provided, and one ejection gun 31 is movably provided in an ejection chamber 33A.

[0077] In this embodiment, the ejection frame 331 is provided with a pitch frame. One end of the ejection arm 332 of the launcher 33 is connected to a rotating shaft 333. The rotating shaft 333 is rotatably connected to the pitch frame to adjust the launch angle of the ejection arm 332. One end of the rotating shaft 333 is connected to a rotary motor to drive the rotating shaft 333 to rotate a certain angle. This angle can be calculated and obtained by referring to the positioning parameters of the positioning mechanism 70.

[0078] The ejection arm 332 can be set as one or two. Two ejection arms 332 are set corresponding to two throwing guns 31. The two throwing guns 31 are set at intervals, and the docking mechanism 50 can be connected between the two throwing guns 31. It can not only increase the kinetic force of the ejection flight, but also improve the flight balance, so that the docking mechanism 50 can stably reach the predetermined position, that is, the throwing gun 31 can accurately reach the position of the receiver.

[0079] With reference to Figures 1, 4, and 5, in one embodiment, the docking mechanism 50 includes a guide assembly 51 and a docking assembly 52. ​​The guide assembly 51 is connected to the hull 10 at one end and to the lance 31 at the other end. The docking assembly 52 is connected to the supply tank at one end and slidably connected to the guide assembly 51 at the other end. The lance 31 drives the guide assembly 51 to move toward the target vessel 900, and the docking assembly 52 then moves along the guide assembly 51 toward the target vessel 900.

[0080] In this embodiment, the docking mechanism 50 includes a guide assembly 51 and a docking assembly 52. ​​The docking assembly 52 is connected to the end away from the supply tank by the guide assembly. One end of the guide assembly is reeled in, while the other end is connected to the lance 31. The guide assembly moves synchronously with the launch of the lance 31 to the target vessel 900. During flight, the guide assembly unwinds, creating a transmission bridge after the lance 31 connects to the receiver. The docking assembly 52 travels along this transmission bridge toward the location of the lance 31, ultimately reaching the target vessel 900. The crew on the target vessel 900 collects the docking assembly 52 and connects it to the liquid tank to be supplied, thus carrying out the supply operation.

[0081] Furthermore, the cooperation between the guide assembly and the docking assembly 52 is realized based on a pulley retracting and extending system. The pulley retracting and extending system can be automatically controlled, manually controlled, or both manually and automatically controllable.

[0082] Specifically, the guide assembly 51 includes a reel 511 and a guide cable 512. The reel 511 is located on the hull 10 and adjacent to the hatch 10B. One end of the guide cable 512 is fixed to the reel 511, where it is reeled in. The other end of the guide cable 512 is connected to the lance 31. The docking assembly 52 is slidably suspended from the guide cable 512.

[0083] In this embodiment, the winding frame 511 is provided on the hull 10 and is detachably fixed relative to the hull 10. The winding machine is provided with a reel for winding the line. The guiding assembly also includes a winding motor. The winding motor is provided on the winding frame 511, and its output end is connected to the reel to drive the reel to rotate for winding or unwinding the line.

[0084] The reel on the reel frame 511 is used to reel in the guide cable 512. One end of the guide cable 512 is fixedly connected to the reel and wound around it. The other end of the guide cable 512 is connected to the lance 31. The reel motor can automatically reel in or reel out the cable, automatically rotating and releasing the guide cable 512 during the launch of the lance 31. This automatic rotation and release operation reduces the pulling force of the guide cable 512 on the lance 31, improving the flight efficiency of the lance 31. It also reduces the initial launch velocity of the lance 31, thereby reducing the amount of electricity required for electromagnetic induction. It also automatically reels the cable during the recovery process of the lance 31, improving recovery efficiency.

[0085] In one embodiment, the docking assembly 52 includes a conveying frame 521 and a docking tube 522 . The conveying frame 521 is slidably connected to the guide cable 512 . One end of the docking tube 522 is connected to the supply bin, and the other end is detachably fixed to the conveying frame 521 .

[0086] In this embodiment, the docking assembly 52 includes a conveyor frame 521 and a docking tube 522. The conveyor frame 521 is slidably connected to the guide cable 512 and is used to clamp and secure the docking tube 522. When the lance 31, carrying the guide cable 512, moves to a receiver connected to the target supply vessel 900, the guide cable 512 straightens to form a linear conveyor bridge, and the conveyor frame 521 drives the docking tube 522 along the linear conveyor bridge. The conveyor frame 521 and the guide cable 512 are connected in a sliding or rolling manner. The conveyor frame 521 drives the docking tube 522 to move relative to each other, overcoming friction between the conveyor frame 521 and the guide cable 512, thereby delivering the docking tube 522 to the target supply vessel 900.

[0087] The docking tube 522 is a plastic hose or a rubber hose with an outer braided layer. One end of the docking tube 522 can be integrally formed or separately assembled with a limiting portion. The conveying rack 521 can detachably clamp one end of the docking tube 522. Specifically, the conveying rack 521 clamps the limiting portion of the docking tube 522 to improve the connection stability of the docking tube 522, ensure that the movement of the conveying rack 521 can synchronously drive the movement of the end of the docking tube 522, and improve the reliability of the docking tube 522 being conveyed to the target supply ship 900.

[0088] In one embodiment, the conveying frame 521 includes a suspension claw 5211 and two sliding wheels 5212, the suspension claw 5211 clamps and fixes the docking tube 522; two guide cables 512 are provided, and one sliding wheel 5212 is slidably connected to one guide cable 512; the docking assembly 52 also includes a driving member, which connects the two sliding wheels 5212 and synchronously drives the two sliding wheels 5212 to slide relative to the two guide cables 512 to convey the docking tube 522 to the supply target vessel 900.

[0089] In this embodiment, the two ends of the suspension claw 5211 are rotatably connected to two sliding wheels 5212. The sliding wheels 5212 are provided with rolling grooves along their axial directions. The guide cable 512 is movably clamped in the rolling grooves. An engaging space connected to the rolling grooves is formed at the connection between the sliding wheel 5212 and the suspension claw 5211. Under the action of gravity of the suspension claw 5211 and the docking tube 522, the guide cable 512 is positioned below the sliding wheel 5212 when connected to the sliding wheel 5212. The engaging space is connected to the rolling grooves, and the guide cable 512 is engaged with the groove walls on both sides of the rolling groove, preventing the guide cable 512 from slipping out of the rolling groove, thereby improving the reliability of the connection between the guide cable 512 and the sliding wheel 5212.

[0090] The guide cable 512 and the sliding wheel 5212 can be connected by sliding or rolling. The rolling method can be active rolling or passive rolling. Based on the fact that the friction force of the rolling connection is less than the sliding friction force, the guide cable 512 and the sliding wheel 5212 are preferably set to be connected by rolling.

[0091] In one embodiment, at least one of the two sliding wheels 5212 is equipped with a roller motor. The roller motor is located outside the end of the suspension claw 5211 connected to the sliding wheel 5212. The roller motor is connected to the central axis of the sliding wheel 5212 to drive the sliding wheel 5212 to rotate. During rotation, the sliding wheel 5212 moves relative to the guide cable 512, thereby driving the docking tube 522 toward the target supply vessel 900. The roller motor can be a servo motor or a stepper motor, so that the speed of the sliding wheel 5212 can be adjusted to adjust the movement speed of the docking tube 522 and improve transmission efficiency.

[0092] As will be appreciated, the provision of a roller motor facilitates faster and more efficient retrieving of the docking mechanism 50. During retrieval, the roller motor reverses and drives the sliding wheel 5212 on the guide cable 512 toward the unmanned supply vessel 100, thereby retrieving the docking tube 522 back into the unmanned supply vessel 100. Once the docking tube 522 has returned to the unmanned supply vessel 100, the reel-up frame 511 and the reel-up motor reverse, synchronously retrieving the guide cable 522 and the lance 31 back into the unmanned supply vessel 100.

[0093] Furthermore, the conveying rack 521 is provided with a movable claw clamp corresponding to the clamping part of the connecting pipe 522. The movable claw clamp is configured to be magnetic, that is, an electromagnetic force biting system is added to the movable claw clamp to enhance the clamping force and clamping stability of the movable claw clamp for the docking hose for transporting liquid cargo.

[0094] The conveyor frame 521 can be made entirely of metal, or partially of metal, exemplarily in the case of the movable claws. In this case, the conveyor frame 521 is detachably connected to the sliding wheel 5212, and a roller motor can be provided to drive the sliding wheel 5212 to rotate relative to the guide cable 512 for conveyance.

[0095] Alternatively, the conveying frame 521 is made of metal as a whole, and the two ends of the conveying frame 521 away from the movable claw clamp are respectively welded or screwed to the two sliding wheels 5212, so that the conveying frame 521 and the sliding wheel 5212 are relatively fixedly connected. At this time, the central axis of the sliding wheel 5212 is set to be rotatable, so that the central axis rotates relative to the guide cable 512, reducing the friction when the sliding wheel 5212 moves relative to the guide cable 512, and improving the reliability of the conveying frame 521 driving the docking tube 522 to move to the supply target ship 900.

[0096] It is understood that the guide cable 512 and reel 511 of the guide assembly 51, combined with the pulley 5212 of the docking assembly 52, form a pulley retraction system. The pulley retraction system is connected to the unmanned supply vessel 100 via the fixed end of the guide cable 512. The pulley 5212 is driven by a roller motor to reciprocate along the guide cable 512 to complete the delivery, docking, and recovery of the liquid cargo hose. After the at-sea replenishment is completed, the pulley retraction system reverses and automatically retracts the guide cable 512 to the reel 511 within the hull 10.

[0097] It can be understood that when the lance 31 is recovered, the reverse drive of the roller motor of the pulley retracting system cooperates with the reverse drive of the reeling motor of the reeling frame 511 to accelerate the process of recovering the guide cable 522 and the lance 31.

[0098] It can be understood that the unmanned supply vessel 100 can achieve multiple replenishments. In one replenishment operation, the cable-throwing mechanism 30, the docking mechanism 50 and the positioning mechanism 70 provided on the cable-throwing mechanism 30 are used to achieve multiple replenishments. A group of coordinated cable-throwing mechanisms 30, docking mechanisms 50 and positioning mechanisms 70 form a single-time replenishment device. An unmanned supply vessel 100 includes multiple groups of single-time replenishment devices to achieve multiple replenishment operations in one voyage of the unmanned supply vessel 100, reduce the number of voyages, and improve the replenishment adequacy of the supply warehouse.

[0099] Based on the needs of the shipping industry and the trend of technological development, traditional offshore supply vessels require manual operation and monitoring when performing liquid cargo transportation tasks. However, this method has many limitations, such as high labor costs, work safety, and work efficiency. With the rapid development of automation technology and unmanned ships, researchers have begun to explore how to apply automation technology to the liquid cargo transportation process of offshore supply vessels. By introducing automatic transportation equipment, unmanned ships can automatically complete the tasks of liquid cargo loading, unloading, and transportation, aiming to improve the transportation efficiency of supply ships, reduce labor costs, improve work safety, and provide a reliable solution for the automatic transportation of liquid cargo at sea by unmanned supply ships.

[0100] Improvements in automation technology for liquid cargo transfer equipment and control systems for unmanned vessels provide the technical foundation and support for the research into automated liquid cargo transfer equipment for unmanned supply vessels. The research into automated liquid cargo transfer equipment for unmanned supply vessels stems from the demand for increased efficiency, reduced costs, and improved safety in the shipping industry, as well as the development of automation technology and unmanned vessels. The goal of this equipment is to automate liquid cargo transfer at sea through the introduction of automated transfer equipment, bringing innovation and progress to the offshore supply vessel industry.

[0101] In one embodiment, the supply target vessel 900 is provided with a receiver, and the positioning mechanism 70 includes an image capture module, a distance measurement module, and a speed measurement module. The image capture module is used to collect the position information of the receiver; the distance measurement module is used to obtain the distance information between the receiver and the cable throwing mechanism 30; and the speed measurement module is used to obtain the running speed of the supply object.

[0102] In this embodiment, the unmanned supply vessel 100 is provided with a central control module, which is connected to the positioning mechanism 70 by signal, and the motors in the cable-throwing mechanism 30 and the docking mechanism 50 are both connected to the central control module by signal. The central control module obtains the collected data of the positioning mechanism 70 for calculation to eject the throwing gun 31 of the cable-throwing mechanism 30, and at the same time controls each motor to operate accordingly to complete the connection between the docking mechanism 50 and the supply target vessel 900.

[0103] The positioning mechanism 70 includes an image capture module, a distance measurement module, and a speed measurement module. The image capture module can be configured as a CCD camera, a spectral camera, or a high-speed camera. The image capture module is used to collect the position information of the receiver of the target supply vessel 900. The distance measurement module can be configured as a distance measurement instrument such as a laser range sensor or an infrared range sensor. The distance measurement module is used to obtain the distance information between the receiver and the cable-throwing mechanism 30. The speed measurement module can be configured as a positioning sensor, specifically at least one of a GPS positioning sensor, an inertial navigation sensor, an optical sensor, or an acoustic sensor. The speed measurement module is used to obtain the running speed of the supply target. The positioning mechanism 70 obtains image information, position information, spacing information, and running speed information, and then performs a comprehensive calculation to determine the launch angle and launch angle of the launch gun 31, so that the launch gun 31 can be accurately launched to the target supply vessel 900, thereby realizing automated unmanned supply operations.

[0104] In one embodiment, the positioning module utilizes a combined global navigation satellite system (GNSS) and an inertial navigation system (INS). This system utilizes both GPS positioning sensors and inertial navigation sensors to enable the unmanned supply vessel 100 and the target supply vessel 900 to track each other, facilitating alignment and trajectory alignment. Dynamic calibration is then performed to maintain the same speed and parallel movement. The ranging module utilizes a laser ranging sensor. After dynamic calibration, the laser ranging sensor is used to detect the distance between the unmanned supply vessel 100 and the target supply vessel 900, calculate the launch parameters, and prepare the launch lance 31 for launch. This improves the launch accuracy of the lance 31, thereby enhancing the automation and success rate of the unmanned operation of the unmanned supply vessel 100.

[0105] It is understood that before the lance 31 launches, the unmanned supply vessel 100 and the target supply vessel 900 are continuously and dynamically aligned to maintain the same speed and parallel motion. During this process, the lance 31's launch parameters are acquired, including the launch pitch angle and initial launch velocity, which are then used to determine the power level and motor drive speed. To avoid the influence of the vessel suction effect, the minimum distance between the unmanned supply vessel 100 and the target supply vessel 900 is set to no less than Dmin = 0.002893L1 + 0.303744L2, where L1 is the length of the unmanned supply vessel 100 and L2 is the length of the target supply vessel 900. This ensures reasonable spacing and navigation stability.

[0106] Furthermore, the unmanned supply ship 100 is provided with a battery pack and a solar generator, or a battery pack and a wind power generator, or a battery pack and a hydropower generator. The battery pack stores the solar power generation, wind power generation, or hydropower generation to supply power to the unmanned supply ship 100.

[0107] The present application also proposes a control method for the unmanned supply vessel 100. The control method can be based on the structure of the unmanned supply vessel 100 described above for control operation. The control method for the unmanned supply vessel 100 includes the following steps:

[0108] S10: Control the ship 10 to sail towards the target supply ship 900;

[0109] In this embodiment, the central control module of the unmanned supply vessel 100 receives a supply request signal from the target vessel 900. The unmanned supply vessel 100 may be equipped with at least one scanning mechanism to perform a preliminary scan to locate the target vessel 900. Alternatively, the unmanned supply vessel 100 may rotate through at least one positioning mechanism 70 to quickly obtain the approximate location of the target vessel 900. This scanning process may involve obtaining positioning information via a GPS positioning sensor, or using an image capture module to capture the target vessel 900 during the rotation of the positioning mechanism 70. The unmanned supply vessel 100 then locks onto the target vessel 900 and controls the unmanned supply vessel 100 to move toward the target vessel 900.

[0110] S20: Obtaining navigation information of the target supply vessel 900;

[0111] In this embodiment, the current position of the target supply vessel 900 is acquired through the camera of the image capture module in conjunction with a GPS positioning sensor, and then distance and speed detection are performed in conjunction with a range and speed sensor. The navigation direction of the target supply vessel 900 is then determined in conjunction with an inertial navigation sensor to obtain navigation information of the target supply vessel 900. Based on the acquired navigation information, the route of the unmanned supply vessel 100 is planned so that the unmanned supply vessel 100 and the target supply vessel 900 approach each other, while the operating status is gradually adjusted synchronously.

[0112] S30: adjusting the navigation parameters of the hull 10 according to the navigation information;

[0113] In this embodiment, as the unmanned supply vessel 100 and the target vessel 900 approach each other, GPS positioning sensors and inertial navigation sensors are used simultaneously to enable the unmanned supply vessel 100 and the target vessel 900 to follow each other, facilitating alignment and alignment. Dynamic calibration is then continuously performed to maintain the same speed and parallel movement. The ranging module utilizes a laser ranging sensor. After dynamic calibration, the laser ranging sensor is used to detect the distance between the unmanned supply vessel 100 and the target vessel 900, calculate the launch parameters, and prepare the launch lance 31 for launch. This improves the launch accuracy of the lance 31, thereby enhancing the automation and success rate of the unmanned operation of the unmanned supply vessel 100.

[0114] S40: launching the cable-throwing mechanism 30 according to the navigation information to connect the docking mechanism 50 with the target vessel 900 for replenishment operation;

[0115] In this embodiment, dynamic calibration is continuously performed to adjust the unmanned supply vessel 100 and the target vessel 900 to operate at the same speed and in parallel. The image capture module then captures and confirms the receiver on the target vessel 900. A range sensor then detects and confirms the relative position of the lance 31 and the receiver, calculating the lance 31's launch angle and initial launch velocity. The lance 31 is then launched, driving the docking mechanism 50 toward the target vessel 900, thereby connecting the target vessel 900 and the unmanned supply vessel 100. Liquid cargo in the unmanned supply vessel's 100 supply tank is then replenished via the docking hose of the docking mechanism 50.

[0116] S50: Recover the cable throwing mechanism 30 and the docking mechanism 50.

[0117] In this embodiment, the target supply vessel 900 is equipped with a detection device for detecting the amount of liquid cargo, thereby providing feedback on whether to continue or stop the supply operation. Upon completion of the supply operation, the docking tube 522 of the unmanned supply vessel 100 is detached, and the docking mechanism 50 and the lance 31 are then recovered by the cable-throwing mechanism 30, completing the supply operation.

[0118] Furthermore, after step S50, the process returns to step S10 to monitor the supply demand signal of the next supply target vessel 900, thereby performing the next round of supply operations. The unmanned supply vessel 100 is also equipped with a supply tank inventory monitoring system to facilitate timely replenishment when the unmanned supply vessel 100 is low on supplies.

[0119] The above description is merely an embodiment of the present application and does not limit the patent scope of the present application. All equivalent structural transformations made using the contents of the present application specification and drawings under the inventive concept of the present application, or direct / indirect application in other related technical fields are included in the patent protection scope of the present application.

Claims

1. An unmanned supply ship, wherein, The unmanned supply ship includes: A hull, where the hull is provided with a cabin and a hatch that are connected and communicate with each other, and a supply bin is arranged inside the cabin; A cable throwing mechanism, which is arranged on the hull, and a throwing gun is movably arranged on the cable throwing mechanism; A docking mechanism, one end of which is connected to the supply bin, and the other end is connected to the throwing gun; and A positioning mechanism, which is arranged on the hull and is signal-connected to the cable throwing mechanism; Wherein, the cable throwing mechanism triggers and ejects the throwing gun according to the positioning signal of the positioning mechanism, so that the throwing gun moves away from the hull to drive the docking mechanism to move to the supply target ship.

2. The unmanned supply ship according to claim 1, wherein, The throwing gun is a metal part, and the cable throwing mechanism includes: A mounting seat, which is arranged on the hull; and A launcher, the launcher is rotatably connected to the mounting seat, the positioning mechanism is arranged on the launcher and is signal-connected to the launcher, the launcher is provided with an electromagnetic track, and the throwing gun is movably arranged in the electromagnetic track.

3. The unmanned supply ship according to claim 2, wherein, The launcher includes: A throwing frame, the throwing frame is rotatably connected to the mounting seat, and the positioning mechanism is arranged on the throwing frame; and An ejection arm, the ejection arm is rotatably connected to the throwing frame, the rotation axis of the ejection arm is arranged at an angle with the rotation axis of the throwing frame, the ejection arm is provided with an ejection chamber, and at least part of the chamber wall of the ejection chamber is provided with electromagnetic coils to form the electromagnetic track.

4. The unmanned supply ship according to claim 3, wherein, The launcher further includes a rotating shaft, and the rotating shaft is rotatably connected to the throwing frame; There are two ejection arms, and the two ejection arms are respectively arranged at both ends of the rotating shaft, and the two ejection arms are respectively perpendicular to the rotating shaft; There are two throwing guns, and one throwing gun is movably arranged in one ejection chamber.

5. The unmanned supply ship according to claim 1, wherein, The docking mechanism includes: A guiding component, one end of which is connected to the hull, and the other end is connected to the throwing gun; and A docking component, one end of which is connected to the supply bin, and the other end is slidably connected to the guiding component; Wherein, the throwing gun drives the guiding component to move to the supply target ship, and the docking component moves along the guiding component to the supply target ship.

6. The unmanned supply ship according to claim 5, wherein, The guiding component includes: A winding frame, which is arranged on the hull and is adjacent to the hatch; and A guiding cable, one end of the guiding cable is fixed to the winding frame, the guiding cable is wound on the winding frame, the other end of the guiding cable is connected to the throwing gun, and the docking component is slidably suspended on the guiding cable.

7. The unmanned supply ship according to claim 6, wherein, The docking component includes: A conveying frame, which is slidably connected to the guiding cable; and A docking pipe, one end of which is connected to the supply bin, and the other end is detachably fixed to the conveying frame.

8. The unmanned supply ship according to claim 7, wherein, The conveying frame includes a suspension claw and two sliding wheels, and the suspension claw clamps and fixes the docking pipe; There are two guiding cables, and one sliding wheel is slidably connected to one guiding cable; The docking component further includes a driving member, and the driving member is connected to the two sliding wheels and synchronously drives the two sliding wheels to slide relative to the two guiding cables to convey the docking pipe to the supply target ship.

9. The unmanned supply ship according to any one of claims 1 to 8, wherein, The supply target ship is provided with a receiver, and the positioning mechanism includes: A capture module, which is used to collect the position information of the receiver; A ranging module, which is used to obtain the distance information between the receiver and the cable throwing mechanism; and A speed measurement module, which is used to obtain the running speed of the replenishment object.

10. A control method for an unmanned supply ship, wherein, The control method includes the following steps: Control the hull to sail towards the replenishment target ship; Obtain the navigation information of the replenishment target ship; Adjust the navigation parameters of the hull according to the navigation information; Eject the cable throwing mechanism according to the navigation information to connect the docking mechanism with the replenishment target ship for replenishment operations; Recover the cable throwing mechanism and the docking mechanism.

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