CN107235418A - Lifting vehicle automatic coupling system on a kind of large ship - Google Patents
Lifting vehicle automatic coupling system on a kind of large ship Download PDFInfo
- Publication number
- CN107235418A CN107235418A CN201710522674.1A CN201710522674A CN107235418A CN 107235418 A CN107235418 A CN 107235418A CN 201710522674 A CN201710522674 A CN 201710522674A CN 107235418 A CN107235418 A CN 107235418A
- Authority
- CN
- China
- Prior art keywords
- wheel
- electric
- lifting
- control system
- hook
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/16—Applications of indicating, registering, or weighing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/22—Control systems or devices for electric drives
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
Large ship is that the movement and lifting of goods on the Important Platform of marine transportation and operation, naval vessel or equipment are essential actions, and lifting vehicle is exactly the important special vehicle of one of which.Due to being influenceed by wave effect and displacement, naval vessel is often produced and rocked, under this operating mode, and the hook task difficulty of goods is greatly improved.The present invention relates to lifting vehicle automatic coupling system on a kind of large ship, it includes naval vessel, deck, lifting vehicle, cable wire, suspension hook, carrying platform, electric-control system, wheel, lifting device, ultrasonic sensor, mechanical arm, camera, weight and suspension ring, based on intelligent vehicle and machine vision location technology, with the function of being automatically positioned, track and complete hook operation, can realize stormy waves swing goods on environment lower decks it is accurate it is fast and reliable mount operation, lifting waves special vehicle under environment and ensures work capacity.
Description
Technical field
The present invention relates to the robot for being automatically positioned, tracking and completing hook operation used on Offshore Platform
Lifting vehicle automatic coupling system in system, more particularly to a kind of large ship, belongs to special vehicle and ensures operation technique neck
Domain.
Background technology
21st century is the century of ocean, and China " 13 " development plan clearly proposes actively to expand the economic sky of blueness
Between, deep water, green, the Marine High-technology of safety are given priority to, maritime rights and interests are safeguarded, ocean power is built.Wherein, large ship
The movement and lifting for being goods on the Important Platform of marine transportation and operation, naval vessel or equipment are essential actions
One of.The auxiliary equipment of various functions is needed, wherein special vehicle is exactly the important auxiliary equipment of a class, such as：Derrick car, deck
Tractor, relief car etc., quick mobile and lifting goods or equipment are one of key operation contents of these special vehicles.Due to
Influenceed by oceanic winds, ocean current, wave effect and displacement, naval vessel often produces rolling, pitching, swaying, surging
Deng motion so that goods, equipment and special vehicle above deck is moved together with platform, and the suspension hook in boom hoisting
Typically all it is connected with cable wire with arm, is easily swung.Therefore, goods on moving platform deck is quickly and reliably completed
It is a problem to link up with operation.The development of image recognition technology and Artificial Intelligence Controlling Theory, is provided for the solution of this problem
New approach.Design and research and development are with the intelligence system for being automatically positioned, tracking and completing hook operation, the Practical having
Value.
The content of the invention
1st, goal of the invention：
It is quickly and accurately complete it is an object of the invention to provide lifting vehicle automatic coupling system on a kind of large ship
The positioning and hook operation of environment lower decks goods are rocked into stormy waves.
2nd, technical scheme：
Based on intelligent vehicle and machine vision location technology, lifting vehicle automatic coupling on a kind of large ship has been invented
System, is shown in accompanying drawing, and the system includes naval vessel, deck, lifting vehicle, cable wire, suspension hook, carrying platform, electric-control system, wheel, act
Rise device, ultrasonic sensor, mechanical arm, camera, weight and suspension ring.Relation between them is：Lifting vehicle, cable wire,
Suspension hook, carrying platform, electric-control system, wheel, lifting device, ultrasonic sensor, mechanical arm, camera, weight and suspension ring are equal
On the deck on naval vessel；Suspension hook is connected by cable wire with lifting vehicle；Wheel is installed on the bottom of carrying platform, electric-control system
The top of carrying platform is installed on lifting device；Ultrasonic sensor is located at the front portion of carrying platform；Mechanical arm is installed on act
Rise on device；Camera is located at the top of lifting device；Carrying platform, electric-control system, wheel, lifting device, supersonic sensing
Device, mechanical arm and camera have collectively constituted an intelligence hook robot system；Suspension hook is held on the middle part of mechanical arm；Suspension ring
Positioned at the top of weight.
The lifting vehicle, is the special vehicle worked on ship deck, is responsible for lifting and the operation of drawing weight, cable wire
It is a part for hoisting apparatus in lifting vehicle with suspension hook；
The carrying platform is self-made components, and power is electronic, includes lithium battery module, vehicle frame bogey and swing buffering
Compensation device, type of drive is four-wheel In-wheel motor driving, for loss of weight, and frame materials are T300 grade carbon fiber reinforced epoxy bases
Composite, moulding process is autoclave, swings buffer compensation device and uses magnetorheological elastomer material；
The electric-control system is self-made components, and its function is the signal of processing camera sensing device and ultrasonic sensor, and
The motion and action of the whole hook robot system of control, include image recognition locating module, navigation module, motor driving mould
Block, control module and human-computer interaction module, processor use the TMS320 family chips of TI companies；
The wheel is self-made components, and using rubbery cover tyre, fibre reinforced epoxy radicals composite wheel hub, wheel is interior to be installed
There is wheel hub motor, power, transmission and brake apparatus are all incorporated into wheel hub, wheel hub motor selects Britain
Depending on ProteanElectric outer rotor hub motors, size of the size according to wheel；
The lifting device is self-made components, is electric-controlled hydraulic hoisting system, and its function is the height of adjustment hook and mechanical arm
Degree；
The ultrasonic sensor is part purchased in market, and its function is detecting obstacles thing, and transmits a signal to electric-control system, side
Help carry out path planning, the HT40C16TR-2 of model Shanghai standing grain field electronics；
The mechanical arm is self-made components, is made up of two clamps, can deploy and close, using the machining of Q235 steel
Into by quenching and rust preventive paint processing；
The camera is part purchased in market, and model SONY P0001, its function is the image for shooting weight and suspension ring, and will
Data send electric-control system to；
The suspension ring are self-made components, and specific color and striped are coated with thereon, is easy to image recognition and positioning.
3rd, " lifting vehicle automatic coupling system on a kind of large ship " of the invention, its advantage is as follows：
(1) manpower that the present invention can be saved on naval vessel, improves the guarantee of lifting vehicle on operating efficiency, lifting naval vessel
Work capacity.
(2) can realize that stormy waves rocks the automatic quick connection of flexible hook and link under environment, and control accuracy is high, has
Help realize the automations of naval vessel platform operations and unmanned.
In a word, the system can realize that stormy waves rocks the quick hook operation of lifting vehicle on ship deck under environment, carry
The flexible hanging point positioning of high special vehicle and connection control accuracy, lifting wave special vehicle under environment and ensure work capacity.
Brief description of the drawings
Accompanying drawing is the schematic diagram of lifting vehicle automatic coupling system on a kind of large ship of the invention.
Symbol description is as follows in figure：1- naval vessels, 2- decks, 3- liftings vehicle, 4- cable wires, 5- suspension hooks, 6- carrying platforms, 7-
Electric-control system, 8- wheels, 9- lifting devices, 10- ultrasonic sensors, 11- mechanical arms, 12- cameras, 13- weights, 14- are hung
Ring.
Embodiment
The embodiment of the present invention is described in further detail below in conjunction with the accompanying drawings：
As shown in drawings, lifting vehicle automatic coupling system on a kind of large ship of the invention, including with lower component：Warship
Ship 1, deck 2, lifting vehicle 3, cable wire 4, suspension hook 5, carrying platform 6, electric-control system 7, wheel 8, lifting device 9, ultrasonic wave are passed
Sensor 10, mechanical arm 11, camera 12, weight 13 and suspension ring 14.
Relation between them is：Lifting vehicle 3, cable wire 4, suspension hook 5, carrying platform 6, electric-control system 7, wheel 8, lifting
Device 9, ultrasonic sensor 10, mechanical arm 11, camera 12, weight 13 and suspension ring 14 are respectively positioned on the deck 2 on naval vessel 1；Hang
Hook 5 is connected by cable wire 4 with lifting vehicle 3；Wheel 8 is installed on the bottom of carrying platform 6, and electric-control system 7 and lifting device 9 are pacified
Top loaded on carrying platform 6；Ultrasonic sensor 10 is located at the front portion of carrying platform 6；Mechanical arm 11 is installed on lifting device 9
On；Camera 12 is located at the top of lifting device 9；Carrying platform 6, electric-control system 7, wheel 8, lifting device 9, supersonic sensing
Device 10, mechanical arm 11 and camera 12 have collectively constituted an intelligence hook robot system；Suspension hook 5 is held on mechanical arm 11
Middle part；Suspension ring 14 are located at the top of weight 13, are the target of suspension hook 5.
The naval vessel 1 be the large-scale tonnage naval vessel with deck 2, loaded displacement tonnage is more than 10000 tons, it is considered to its
Operating mode under wave environment, chooses level Four sea situation as the limiting condition of the present invention；
The lifting vehicle 3, is the special vehicle worked on naval vessel 1, is responsible for lifting and the operation of drawing weight, in wave
Can be with rocking together in naval vessel 1 and deck 2 under environment；
The cable wire 4 and suspension hook 5 are a parts for hoisting apparatus in lifting vehicle 3, and cable wire 4 is flexible；
The suspension hook 5 is lifting vehicle 3 from tape member, it is not necessary to reequiped；
The carrying platform 6 is self-made components, belongs to intelligent mobile device, and power is electronic, includes lithium battery module, vehicle frame
Bogey and swing buffer compensation device, type of drive is four-wheel In-wheel motor driving, and for loss of weight, frame materials are T300
Grade carbon fiber reinforced epoxy based composites, moulding process is autoclave, swings buffer compensation device and uses magnetic rheology elastic body
Material；
The electric-control system 7 is self-made components, includes image recognition locating module, navigation module, motor drive module, control
Module and human-computer interaction module, processor use the TMS320 family chips of TI companies；
The wheel 8 is self-made components, and rubbery cover tyre, fibre reinforced epoxy radicals composite wheel hub is provided with wheel
Wheel hub motor, power, transmission and brake apparatus are all incorporated into wheel hub, and wheel hub motor selects Britain ProteanElectric
Depending on outer rotor hub motor, size of the size according to wheel 8；
The lifting device 9 is self-made components, is electric-controlled hydraulic hoisting system；
The ultrasonic sensor 10 is part purchased in market, for detecting obstacles thing, and transmits a signal to electric-control system 7, is helped
Help carry out path planning, the HT40C16TR-2 of model Shanghai standing grain field electronics；
The mechanical arm 11 is self-made components, is made up of two clamps, can deploy and close, and is machined using Q235 steel
Form, handled by quenching and rust preventive paint；
The camera 12 is part purchased in market, model SONY P0001, the image for shooting weight 14 and suspension ring 13；
The weight 13 is to need mobile goods on deck 2；
The suspension ring 14 are the device for being used to lift by crane on weight 13, and specific color and striped are coated with suspension ring 14,
It is easy to image recognition and positioning；
As shown in drawings, naval vessel 1 involved in the present invention usually need deep-sea navigate by water, due to by oceanic winds, ocean current,
Wave act on and displacement influence, deck 2 and object above can produce swings, the progress weight 13 under this operating mode
Lifting or tethered sliding operation are, it is necessary to suspension hook 5 be hung over accurately and reliably and rapidly on suspension ring 14, and suspension hook 5 is often very heavy, one
As all in more than 120kg, this operation on the sea can be automatically performed using the present invention, embodiment is as follows：Set up deck 2
Global coordinate system, by camera 12 shoot the upper lift ring 14 of weight 13 image, according to the color marked in advance on suspension ring 14
Image recognition is carried out with streak feature, extracts artificial target's from a two field picture of the video camera captured in real-time demarcated in advance
The image planes parameter of some characteristic elements, using the geometrical relationship before and after its projection, calculates the position of suspension ring 14；Electric-control system 7
The motion path of planning carrying platform 6 is carried out, driving moment 8 moves to target, detects and avoid by ultrasonic sensor 10
Barrier on motion path；Mechanical arm 11 on carrying platform 6 carries suspension hook 5 and moved to behind the position of weight 13, by lifting
The height that device 9 adjusts suspension hook 5 is risen, the progress of mechanical arm 11 action completes hook task, suspension hook 5 is hung on suspension ring 14；Machine
Tool arm 11 unclamps, and discharges suspension hook 5；Carrying platform 6 carries hook robot device and returns to original position.
The present invention is illustrated according to implementation special case is contemplated, but is not limited to examples detailed above, every to meet the present invention's
Thinking, the technical scheme that the method replaced using similar structure and material is obtained, is belonged within protection scope of the present invention.
Claims (10)
1. lifting vehicle automatic coupling system on a kind of large ship, it is characterised in that the system includes naval vessel, deck, risen
Loaded vehicle, cable wire, suspension hook, carrying platform, electric-control system, wheel, lifting device, ultrasonic sensor, mechanical arm, camera,
Weight and suspension ring.Relation between them is：Lifting vehicle, cable wire, suspension hook, carrying platform, electric-control system, wheel, lifting dress
Put, ultrasonic sensor, mechanical arm, camera, weight and suspension ring are respectively positioned on the deck on naval vessel；Suspension hook passes through cable wire and lifting
Vehicle is connected；Wheel is installed on the bottom of carrying platform, and electric-control system and lifting device are installed on the top of carrying platform；Ultrasound
Wave sensor is located at the front portion of carrying platform；Mechanical arm is installed on lifting device；Camera is located at the top of lifting device；Carry
Fortune platform, electric-control system, wheel, lifting device, ultrasonic sensor, mechanical arm and camera have collectively constituted an intelligence extension
Hook robot system；Suspension hook is held on the middle part of mechanical arm；Suspension ring are located at the top of weight.
The naval vessel is the large-scale tonnage naval vessel with deck, and loaded displacement tonnage is more than 10000 tons, it is considered to which it is in wave ring
Operating mode under border, chooses level Four sea situation as the limiting condition of the present invention.
2. carrying platform according to claim 1, belongs to smart motion device, it is characterised in that the carrying platform is made
To link up with the mobile chassis of robot system, power is electronic, is mended comprising lithium battery module, vehicle frame bogey and swing buffering
Device is repaid, type of drive is four-wheel In-wheel motor driving；For loss of weight, frame materials are multiple for T300 grade carbon fiber reinforced epoxies base
Condensation material, moulding process is autoclave, swings buffer compensation device and uses magnetorheological elastomer material；Pass through electric control system controls
The wheel movement of carrying platform.
3. electric-control system according to claim 2, it is characterised in that the function of the electric-control system passes for processing camera
The signal of sensor and ultrasonic sensor, and the motion and action of whole hook robot system are controlled, it is fixed comprising image recognition
Position module, navigation module, motor drive module, control module and human-computer interaction module, processor use the TMS320 of TI companies
Family chip.
4. suspension ring according to claim 1, it is characterised in that the surface spraying of the suspension ring has specific color and bar
Line, is easy to image recognition and positioning.
5. wheel according to claim 2, it is characterised in that the wheel uses rubbery cover tyre, fibre reinforced epoxy
Wheel hub motor is installed in based composites wheel hub, wheel, power, transmission and brake apparatus are all incorporated into wheel hub, wheel hub
Motor is selected depending on Britain's ProteanElectric outer rotor hub motors, size of the size according to wheel.
6. lifting device according to claim 1, it is characterised in that the lifting device is electric-controlled hydraulic hoisting system,
Its function is the height of adjustment hook and mechanical arm, and camera is arranged on the top of lifting device.
7. ultrasonic sensor according to claim 1, it is characterised in that the function of the ultrasonic sensor is detection
Barrier, and electric-control system is transmitted a signal to, help electric-control system to carry out path planning, model Shanghai standing grain field electronics
HT40C16TR-2。
8. mechanical arm according to claim 1, it is characterised in that the mechanical arm is self-made components, is made up of two clamps,
It can deploy and close, be processed using Q235 steel machineries, be handled by quenching and rust preventive paint.
9. camera according to claim 6, it is characterised in that the model SONY P0001 of the camera, its work(
It can be the image for shooting weight and suspension ring, and transfer data to electric-control system.
10. electric-control system according to claim 2, it is characterised in that the global seat on deck is set up in the electric-control system
Mark system, the image of weight upper lift ring is shot by camera, is schemed according to the color and streak feature that are marked in advance on suspension ring
As identification, the picture of some characteristic elements of artificial target is extracted from a two field picture of the video camera captured in real-time demarcated in advance
Face parameter, using the geometrical relationship before and after its projection, calculates the position of suspension ring；Electric-control system carries out the fortune of planning carrying platform
Dynamic path, driving moment moves to target, is detected by ultrasonic sensor and avoid the barrier on motion path；Carrying is put down
Mechanical arm on platform carries suspension hook and moved to behind the position of weight, and the height of suspension hook is adjusted by lifting device, and mechanical arm enters
Action is made to complete hook task, and suspension hook is hung on suspension ring；Mechanical arm unclamps, and discharges suspension hook；Carrying platform carries hook machine
Device people's device returns to original position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710522674.1A CN107235418B (en) | 2017-06-30 | 2017-06-30 | Lifting vehicle automatic coupling system on a kind of large ship |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710522674.1A CN107235418B (en) | 2017-06-30 | 2017-06-30 | Lifting vehicle automatic coupling system on a kind of large ship |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107235418A true CN107235418A (en) | 2017-10-10 |
| CN107235418B CN107235418B (en) | 2018-07-13 |
Family
ID=59990066
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710522674.1A Active CN107235418B (en) | 2017-06-30 | 2017-06-30 | Lifting vehicle automatic coupling system on a kind of large ship |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107235418B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113329966A (en) * | 2019-01-23 | 2021-08-31 | 株式会社多田野 | Crane with a movable crane |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE2707654A1 (en) * | 1976-02-28 | 1977-09-01 | Ferranti Ltd | DEVICE FOR CONTROLLING THE VERTICAL MOVEMENT OF A CRANE HOOK |
| GB1562745A (en) * | 1976-05-05 | 1980-03-12 | Ihc Holland Nv | Compensation device for a crane |
| DE10025891A1 (en) * | 2000-05-25 | 2001-11-29 | Aljo Aluminium Bau Jonuscheit | Ship's davit for securing and launching a boat has an additional safety line at the crane hook with a groove locking surface at the hook for secure raising and launching even at sea |
| CN101384503A (en) * | 2006-02-15 | 2009-03-11 | 株式会社安川电机 | Device for preventing sway of suspended load |
| CN102015512A (en) * | 2008-04-28 | 2011-04-13 | 斯特凡·莱斯克 | Device for the safe transfer of personnel or material from an object configured as a boat to an object moving relative thereto, and boat comprising the device |
| CN102887439A (en) * | 2012-10-31 | 2013-01-23 | 南通润邦重机有限公司 | Marine telescopic crane |
| CN103303799A (en) * | 2012-03-09 | 2013-09-18 | 利勃海尔-韦尔克嫩青有限公司 | Crane controller, crane, applications thereof, and method for starting the crane |
| CN203333189U (en) * | 2013-06-25 | 2013-12-11 | 湖南省长沙船舶厂 | Hoisting device for ships |
| CN203411255U (en) * | 2013-08-26 | 2014-01-29 | 浙江海洋学院 | Crane for bulk cargo ship |
| CN104039678A (en) * | 2011-11-09 | 2014-09-10 | Ihc荷兰Ie有限公司 | Vessel and crane with full dynamic compensation for vessel and wave motions and a control method thereof |
| US9315239B2 (en) * | 2012-01-31 | 2016-04-19 | Exxonmobil Upstream Research Company | Load compensating mooring hooks |
-
2017
- 2017-06-30 CN CN201710522674.1A patent/CN107235418B/en active Active
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE2707654A1 (en) * | 1976-02-28 | 1977-09-01 | Ferranti Ltd | DEVICE FOR CONTROLLING THE VERTICAL MOVEMENT OF A CRANE HOOK |
| GB1562745A (en) * | 1976-05-05 | 1980-03-12 | Ihc Holland Nv | Compensation device for a crane |
| DE10025891A1 (en) * | 2000-05-25 | 2001-11-29 | Aljo Aluminium Bau Jonuscheit | Ship's davit for securing and launching a boat has an additional safety line at the crane hook with a groove locking surface at the hook for secure raising and launching even at sea |
| CN101384503A (en) * | 2006-02-15 | 2009-03-11 | 株式会社安川电机 | Device for preventing sway of suspended load |
| CN102015512A (en) * | 2008-04-28 | 2011-04-13 | 斯特凡·莱斯克 | Device for the safe transfer of personnel or material from an object configured as a boat to an object moving relative thereto, and boat comprising the device |
| CN104039678A (en) * | 2011-11-09 | 2014-09-10 | Ihc荷兰Ie有限公司 | Vessel and crane with full dynamic compensation for vessel and wave motions and a control method thereof |
| US9315239B2 (en) * | 2012-01-31 | 2016-04-19 | Exxonmobil Upstream Research Company | Load compensating mooring hooks |
| CN103303799A (en) * | 2012-03-09 | 2013-09-18 | 利勃海尔-韦尔克嫩青有限公司 | Crane controller, crane, applications thereof, and method for starting the crane |
| CN102887439A (en) * | 2012-10-31 | 2013-01-23 | 南通润邦重机有限公司 | Marine telescopic crane |
| CN203333189U (en) * | 2013-06-25 | 2013-12-11 | 湖南省长沙船舶厂 | Hoisting device for ships |
| CN203411255U (en) * | 2013-08-26 | 2014-01-29 | 浙江海洋学院 | Crane for bulk cargo ship |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113329966A (en) * | 2019-01-23 | 2021-08-31 | 株式会社多田野 | Crane with a movable crane |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107235418B (en) | 2018-07-13 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104085794B (en) | Intelligent detection system and method for distribution profile and position of container | |
| US10843904B2 (en) | Offshore crane heave compensation control system and method using visual ranging | |
| EP3107802B1 (en) | Method for establishing a temporary connection between two movable objects | |
| CN109678055A (en) | Mobile hanging device control system and method, server, mobile hanging device | |
| CN106737703A (en) | Rescue robot under water and its rescue mode based on wireless telecommunications | |
| CN107790987B (en) | Automatic butt joint method and equipment suitable for loading and unloading arm of oil delivery pipe of wharf and ship flange | |
| CN108931801A (en) | A kind of Vehicular automatic driving method and system in container terminal region | |
| CN110761172A (en) | Telescopic trestle system and control method thereof | |
| CN114834918A (en) | Anti-collision automatic grabbing and unloading method and system for grab ship unloader | |
| CN109080799A (en) | Underwater robot location and control system based on water surface trunking auxiliary | |
| CN111452939A (en) | Autonomous line-inspection underwater helicopter for diversion tunnel detection | |
| CN112875529B (en) | Portal crane tally system based on artificial intelligence | |
| CN107200274A (en) | A kind of anti-container truck based on machine vision is lifted method | |
| CN107045344A (en) | A kind of intelligent ship mooring arrangement | |
| CN107235418B (en) | Lifting vehicle automatic coupling system on a kind of large ship | |
| CN106882348A (en) | The system that wrecked boat is docked with salvor is completed under sea situation high | |
| CN106429889B (en) | Automatic retraction device applied to side-scan sonar towfish | |
| CN110733607A (en) | Group type unmanned boat laying and recycling system | |
| CN204125099U (en) | Winch active wave compensation system | |
| CN206557605U (en) | A kind of automatic mooring system of unmanned boat | |
| CN108287538A (en) | One kind being based on the unmanned boat system of RTK technologies | |
| CN206288875U (en) | It is applied to the automatic retraction device of side-scan sonar towfish | |
| CN113044721A (en) | Portal crane operation attitude control system and method | |
| CN114800494A (en) | Box moving manipulator based on monocular vision | |
| CN205150175U (en) | Marine personnel transmission device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20201117 Address after: 300350 Zhichuang workshop-1013, Zone C, Haitang Zhongchuang street, Yalun Road, xianshuigu Town, Jinnan District, Tianjin Patentee after: Haiteng (Tianjin) new material technology Co., Ltd Address before: 100191 Haidian District, Xueyuan Road, No. 37, Patentee before: BEIHANG University |
|
| TR01 | Transfer of patent right |