CN109883265A - A kind of intelligent ship is moored a boat system and application method - Google Patents
A kind of intelligent ship is moored a boat system and application method Download PDFInfo
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- CN109883265A CN109883265A CN201910165567.7A CN201910165567A CN109883265A CN 109883265 A CN109883265 A CN 109883265A CN 201910165567 A CN201910165567 A CN 201910165567A CN 109883265 A CN109883265 A CN 109883265A
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- hawser
- control unit
- locking device
- gun
- line throwing
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Abstract
It moors a boat system the invention discloses a kind of intelligent ship, belong to the technical field of anchorage regardless, it is intended to provide and a kind of adopts casting anchor and unmoor in an automated fashion, significant increase working efficiency, the intelligent ship for saving man power and material is moored a boat system, its key points of the technical solution are that including the cable winch machine being arranged on ship, line throwing gun on ship is set, for fixing the hawser locking device of hawser, transmitting ball is installed at cable wire ends on the cable winch machine, the line throwing gun emits for that will emit ball to bank, hawser is fixed by hawser locking device；The hawser locking device unlocks hawser, cable winch machine automatic rolling hawser when departing from port for ship automatically.By the setting of intelligent control module, automation control is realized to anchorage regardless and anchor, working efficiency and precision are higher, and reduce the costs such as artificial training.It moors a boat the application method of system the invention discloses a kind of intelligent ship, belongs to the technical field of anchorage regardless.
Description
Technical field
The present invention relates to the technical field of anchorage regardless, in particular to a kind of intelligent ship is moored a boat system and application method.
Background technique
It is common berthing methods that anchorage regardless, which berths,.Its process is substantially: on ship and is thrown into the anchor that anchor chain or anchor cable connect
It lands, and makes in its engaging-in soil in water, the grip that anchor generates is got up with bottom consolidation, ship is tethered in securely scheduled position
It sets.
Currently, traditional casting anchor all is crewman by hawser heaving line to bank, ship cable is consolidated by the staff on bank
It is fixed, when ship needs to unmoor, and staff is needed to release cable locking.Therefore, using this traditional manual type, not only
Working efficiency is low, also to carry out skills training to staff, expend biggish manpower and material resources.
Summary of the invention
The first object of the present invention is to provide a kind of intelligent ship and moors a boat system, have adopt in an automated fashion cast anchor and
Anchor, significant increase working efficiency, the advantages of saving man power and material.
Above-mentioned technical purpose of the invention has the technical scheme that
A kind of intelligent ship is moored a boat system, including the cable winch machine being arranged on ship, the line throwing gun being arranged on ship, is used
In the hawser locking device of fixed hawser,
Transmitting ball is installed at cable wire ends on the cable winch machine, the line throwing gun emits for that will emit ball to bank
Hawser is fixed by hawser locking device in side；
The hawser locking device unlocks hawser, cable winch machine automatic rolling hawser when departing from port for ship automatically.
By using above-mentioned technical proposal, after ship to bank, the transmitting ball of connection cable is sent to bank, bank by line throwing gun
Side staff again fixes hawser.When ship wants offshore, hawser locking device releases hawser locking, then passes through cable winch machine
Hawser will be wound, and transmitting ball will be put into line throwing gun.
Further, it includes winch control unit, line throwing gun control that the intelligent ship system of mooring a boat, which further includes intelligent control module,
Unit processed, locking device control unit, three-dimensional space modeling unit, Master Control Unit, the line throwing gun are fixed equipped with the first space
Bit location, the hawser locking device are equipped with second space positioning unit,
The winch control unit is for controlling cable winch machine volume cable laying rope；
The line throwing gun control unit is for controlling line throwing gun launch angle, the direction of the launch and emissive porwer；
The locking device control unit releases or locks hawser for controlling hawser locking device；
The first space orientation unit obtains the spatial position of line throwing gun, and the second space positioning unit obtains hawser locking
The spatial position of device, three-dimensional space modeling unit obtain the spatial position of line throwing gun and hawser locking device to establish three-dimensional
Coordinate system, and it is sent to Master Control Unit, Master Control Unit establishes model according to three-dimensional system of coordinate, and calculates the angle of departure of line throwing gun
Degree, direction and dynamics are sent to line throwing gun control unit to be controlled.
By using above-mentioned technical proposal, the Launching Model of line throwing gun is established, adopts control line throwing gun hair in an automated fashion
It penetrates, so there is no need to emit using manual type, avoids staff training, reduce training cost, precision is high, working efficiency
Also it is correspondingly improved.
Further, the line throwing gun includes pedestal, and rotation is equipped with the column being vertically arranged, column and bottom on the pedestal
The direction adjustment organization for driving column to rotate is equipped between seat, the column top is equipped with U-bracket, the pneumatic gun side
Wall is equipped with the connecting rod being rotatablely connected with U-bracket, and the connecting rod and U-bracket are rotatablely connected, and U-bracket is equipped with gas
Dynamic rifle is equipped with the angle adjusting mechanism for driving pneumatic gun swing angle between the column and pneumatic gun.
By using above-mentioned technical proposal, direction adjustment organization and angle adjusting mechanism respectively with the launch angle of line throwing gun
It is adjusted with the direction of the launch, so that line throwing gun emits ball is emitted to designated place.
Further, the direction adjustment organization includes the first worm gear being installed on column, and the pedestal is equipped with side
To motor, the output shaft of the direction motor is equipped with the first worm screw with the first worm gear.
By using above-mentioned technical proposal, line throwing gun horizontal emission direction is adjusted in the first worm gear and the cooperation of the first worm screw
It is whole.
Further, the angle adjusting mechanism includes the angle motor being arranged on U-bracket, the angle motor
Output shaft is equipped with the second worm screw, and the connecting rod is equipped with the second worm gear cooperated with the second worm screw.
By using above-mentioned technical proposal, the vertical direction of the launch of line throwing gun is adjusted in the second worm gear and the cooperation of the second worm screw
It is whole.
Further, the hawser locking device includes mounting post, and the mounting post is equipped with crossbearer, and the crossbearer is separate
Mounting post one end is rotatably connected to the latch hook for lockking hawser, and the latch hook is equipped with connecting rod, connects on the connecting rod useful
It further include the first long-distance radio communication module in the driving mechanism of drive link rotation, ship is equipped with and the first long distance wireless
Second long-distance radio communication module of communication module wireless telecommunications.
By using above-mentioned technical proposal, when ship departure from port, Master Control Unit by the first long-distance radio communication module and
Second long-distance radio communication module emits signal to driving mechanism, allows hawser to automatically disengage latch hook, so there is no need to manually solve
Except hawser.
Further, the driving mechanism includes the mounting ear being detachably connected in mounting post, is consolidated on the mounting ear
Surely it is connected with hydraulic cylinder, adjusting rod is rotatably connected on the piston rod of the hydraulic cylinder, the adjusting rod and connecting rod are far from latch hook
One end rotation connection.
By using above-mentioned technical proposal, when needing to lock hawser, hydraulic cylinder shrinks its piston rod and is driven by connecting rod
Latch hook case contract, so that hawser be locked.When needing to release cable lock timing, it is outside also to extend its piston rod driving latch hook
It opens, to release hawser locking
Further, the first space orientation unit and second space positioning unit are GPS positioning module or Beidou positioning mould
Block.
It is sat by using above-mentioned technical proposal in conjunction with GPS positioning system or BEI-DOU position system convenient for establishing three-dimensional space
Mark system.
The second object of the present invention is to provide as a kind of intelligent ship as described above is moored a boat the application method of system, has
Adopt casting anchor and unmoor in an automated fashion, significant increase working efficiency, the advantages of saving man power and material.
The second object of the present invention has the technical scheme that
A kind of intelligent ship is moored a boat the application method of system, and ship to port casts anchor, and specific step is as follows:
S1: the first space orientation unit obtains the spatial position of line throwing gun, and second space positioning unit obtains hawser locking device
Spatial position, three-dimensional space modeling unit obtains the spatial position of line throwing gun and hawser locking device to establish three-dimensional coordinate
System, and is sent to Master Control Unit, and Master Control Unit establishes model according to three-dimensional system of coordinate, and calculate line throwing gun launch angle,
Direction and dynamics；
S2: line throwing gun control unit receives launch angle, direction and the dynamics of the line throwing gun of Master Control Unit, thus to line throwing gun
Launch angle, direction are adjusted, and are controlled the air inflow of pneumatic gun and then are emitted, and winch control unit driving winch is put
Hawser；
S3: being covered hawser on latch hook by the staff on bank, fixed to hawser,
Specific step is as follows for ship departure from port anchor:
A1: staff sends the signal that unlocks to locking device control unit by Master Control Unit, so that hawser takes off automatically
From latch hook；
A2: winch furls hawser, works at the same time personnel and enters the transmitting bulb stopper of cable end in pneumatic gun, in case carrying out next
Secondary transmitting.
By using above-mentioned technical proposal, casting anchor and unmooring for automation mode is realized, working efficiency is higher, and precision is more
It is high.
In conclusion the invention has the following advantages:
1. realizing automation control to anchorage regardless and anchor, working efficiency and precision are more by the setting of intelligent control module
Height, and reduce the costs such as artificial training；
2. by the setting of line throwing gun, automation heaving line is realized, when use is more convenient；
3. can fitly store hawser by the setting of winch, avoid at random.
Detailed description of the invention
Fig. 1 is in embodiment 1 for embodying the structural schematic diagram of line throwing gun；
Fig. 2 is in embodiment 1 for embodying the schematic diagram of hawser locking device；
Fig. 3 is the system block diagram of intelligent object in embodiment 1.
In figure, 1, line throwing gun；11, pedestal；12, column；13, direction adjustment organization；131, the first worm gear；132, the first snail
Bar；133, direction motor；14, angle adjusting mechanism；141, the second worm gear；142, the second worm screw；143, angle motor；15, U-shaped
Bracket；16, pneumatic gun；17, connecting rod；2, hawser locking device；21, mounting post；22, crossbearer；23, latch hook；24, connecting rod；25,
Driving mechanism；251, mounting ear；252, hydraulic cylinder；253, adjusting rod.
Specific embodiment
Below in conjunction with attached drawing, invention is further described in detail.
Embodiment 1: a kind of intelligent ship is moored a boat system, as illustrated in fig. 1 and 2, including is arranged on ship for storing cable
Line throwing gun 1, the hawser locking device 2 for fixing hawser for being used to emit hawser on ship is arranged in the cable winch machine of rope,
It further include intelligent control module.
Cable winch machine, can automatic deploying and retracting hawser using conventional use of electric winch on ship.
As shown in Figure 1, line throwing gun 1 includes pedestal 11, rotation is equipped with the column 12 being vertically arranged on pedestal 11, column 12 with
The direction adjustment organization 13 for driving column 12 to rotate is equipped between pedestal 11,12 top of column is equipped with U-bracket 15, U-shaped
Between in be equipped with the pneumatic gun 16 that is rotatablely connected with it, 16 side wall of pneumatic gun is equipped with connecting rod 17, and pneumatic gun 16 passes through connection
Bar 17 and U-bracket 15 are rotatablely connected, and are equipped between column 12 and pneumatic gun 16 for driving pneumatic gun 16 to swing up and down angle
Angle adjusting mechanism 14.
As shown in Figure 1, direction adjustment organization 13 includes the first worm gear 131 being installed on column 12, pedestal 11 is equipped with
Direction motor 133, the output shaft of direction motor 133 are equipped with the first worm screw 132 cooperated with the first worm gear 131.Pass through direction
Regulating mechanism 13 can adjust the direction of the launch of pneumatic gun 16.
As shown in Figure 1, angle adjusting mechanism 14 includes the angle motor 143 being arranged on U-bracket 15, angle motor
143 output shaft is equipped with the second worm screw 142, and 17 one end of connecting rod, which is equipped with, cooperates the second worm gear 141 with the second worm screw 142.It is logical
Over-angle regulating mechanism 14 can adjust the launch angle of pneumatic gun 16.
As shown in Fig. 2, hawser locking device 2 includes the mounting post 21 being vertically arranged, mounting post 21 is equipped with horizontally disposed
Crossbearer 22, crossbearer 22 is rotatably connected to the latch hook 23 for lockking hawser far from 21 one end of mounting post, and latch hook 23, which is equipped with, to be connected
Bar 24, connection and the driving mechanism 25 rotated for drive link 24 on connecting rod 24.24 one end of connecting rod is swung by driving mechanism 25,
Other end band moveable lock hook 23 is swung up and down, thus locking or the hawser that unlocks.
As shown in Fig. 2, driving mechanism 25 includes the mounting ear 251 that is detachably connected in mounting post 21, on mounting ear 251
It is fixedly connected with hydraulic cylinder 252, hydraulic cylinder 252 is vertically arranged, and the piston rod top end of hydraulic cylinder 252 is rotatably connected to adjusting rod
253, adjusting rod 253 and connecting rod 24 are rotatablely connected far from 23 one end of latch hook.Its piston rod that stretches of hydraulic cylinder 252 passes through adjusting rod
253 and 24 linkage driving latch hook 23 of connecting rod overturning.
As shown in figure 3, intelligent control module includes winch control unit, line throwing gun control unit, locking device control list
Member, three-dimensional space modeling unit and Master Control Unit.
As shown in figure 3, winch control unit drives the automatic cable laying rope of cable winch machine when hawser is emitted to harbour；When
When ship departure from port anchor, hawser is detached from hawser locking device 2(and sees Fig. 2) after, winch control unit drives cable winch machine automatic
Walk away.
As shown in figure 3, line throwing gun 1(is shown in Fig. 1) it is equipped with the first space orientation unit, hawser locking device 2(is shown in Fig. 2) on
Equipped with second space positioning unit, the first space orientation unit and second space positioning unit are that GPS positioning module or Beidou are fixed
Position module, convenient for acquisition line throwing gun 1(see Fig. 1) and hawser locking device 2(see Fig. 2) location information.
Three-dimensional space modeling unit obtain line throwing gun 1(see Fig. 1) and hawser locking device 2(see Fig. 2) spatial position from
And three-dimensional system of coordinate is established, and be sent to Master Control Unit, Master Control Unit establishes model according to three-dimensional system of coordinate, and calculates heaving line
Launch angle, direction and the dynamics of rifle 1 are sent to 1 control unit of line throwing gun.
As shown in figs. 1 and 3, line throwing gun control unit obtains line throwing gun 1(and sees Fig. 1) launch angle, after direction and dynamics,
Then the transmitting position of line throwing gun 1 is adjusted by angle adjusting mechanism 14 and direction adjustment organization 13, emits Shi Zaitong
The air inflow for crossing control pneumatic gun 16 enables hawser to be transmitted to corresponding position.
As shown in Figures 2 and 3, hawser locking device 2 further includes the first long-distance radio communication module, and ship is equipped with and first
Second long-distance radio communication module of long-distance radio communication module wireless telecommunications.When ship departure from port, Master Control Unit passes through first
Long-distance radio communication module and the second long-distance radio communication module allow hawser to automatically disengage latch hook to the transmitting signal of driving mechanism 25
23。
Embodiment 2: a kind of above-mentioned intelligent ship is moored a boat the application method of system, and as shown in Figures 1 to 3, ship casts anchor to port
Specific step is as follows:
S1: the first space orientation unit obtains the spatial position of line throwing gun 1, and second space positioning unit obtains hawser locking device
2 spatial position, three-dimensional space modeling unit obtain the spatial position of line throwing gun 1 and hawser locking device 2 to establish three-dimensional
Coordinate system, and it is sent to Master Control Unit, Master Control Unit establishes model according to three-dimensional system of coordinate, and calculates the transmitting of line throwing gun 1
Angle, direction and dynamics；
S2: 1 control unit of line throwing gun receives launch angle, direction and the dynamics of the line throwing gun 1 of Master Control Unit, thus to line throwing gun
1 launch angle, direction are adjusted, then the air inflow for controlling pneumatic gun 16 is emitted, and the driving of winch control unit twists
Disk machine cable laying rope；
S3: hawser is covered on latch hook 23 by the staff on bank, hawser is fixed.
Specific step is as follows for ship departure from port anchor:
A1: staff sends the signal that unlocks to locking device control unit by Master Control Unit, so that hawser takes off automatically
From latch hook 23；
A2: winch furls hawser, works at the same time personnel and enters the transmitting bulb stopper of cable end in pneumatic gun 16, in case carrying out down
Primary transmitting.
This specific embodiment is only explanation of the invention, is not limitation of the present invention, those skilled in the art
Member can according to need the modification that not creative contribution is made to the present embodiment after reading this specification, but as long as at this
All by the protection of Patent Law in the scope of the claims of invention.
Claims (9)
- The system 1. a kind of intelligent ship is moored a boat, it is characterised in that: including be arranged on ship cable winch machine, be arranged in ship On line throwing gun (1), the hawser locking device (2) for fixing hawser,Be installed with transmitting ball at cable wire ends on the cable winch machine, the line throwing gun (1) for will emit ball emit to Hawser is fixed by hawser locking device (2) in bank；The hawser locking device (2) unlocks hawser, cable winch machine automatic rolling hawser when departing from port for ship automatically.
- The system 2. a kind of intelligent ship according to claim 1 is moored a boat, it is characterised in that: intelligent ship system of mooring a boat also is wrapped Including intelligent control module includes that winch control unit, line throwing gun (1) control unit, locking device control unit, three-dimensional space are built Form unit, Master Control Unit, the line throwing gun (1) are equipped with the first space orientation unit, and the hawser locking device (2) is equipped with Second space positioning unit,The winch control unit is for controlling cable winch machine volume cable laying rope；Line throwing gun (1) control unit is for controlling line throwing gun (1) launch angle, the direction of the launch and emissive porwer；The locking device control unit releases or locks hawser for controlling hawser locking device (2)；The first space orientation unit obtains the spatial position of line throwing gun (1), and the second space positioning unit obtains hawser The spatial position of locking device (2), three-dimensional space modeling unit obtain the space bit of line throwing gun (1) and hawser locking device (2) It sets to establish three-dimensional system of coordinate, and is sent to Master Control Unit, Master Control Unit establishes model according to three-dimensional system of coordinate, and calculates Launch angle, direction and the dynamics of line throwing gun (1) are sent to line throwing gun (1) control unit to be controlled.
- The system 3. a kind of intelligent ship according to claim 2 is moored a boat, it is characterised in that: the line throwing gun (1) includes bottom Seat (11), rotation is equipped with the column (12) being vertically arranged on the pedestal (11), and use is equipped between column (12) and pedestal (11) In the direction adjustment organization (13) of driving column (12) rotation, column (12) top is equipped with U-bracket (15), U-bracket (15) pneumatic gun (16) are equipped with, pneumatic gun (16) side wall is equipped with the connecting rod being rotatablely connected with U-bracket (15) (17), the connecting rod (17) and U-bracket (15) are rotatablely connected, and are equipped with and are used between the column (12) and pneumatic gun (16) Drive the angle adjusting mechanism (14) of pneumatic gun (16) swing angle.
- The system 4. a kind of intelligent ship according to claim 3 is moored a boat, it is characterised in that: the direction adjustment organization (13) Including the first worm gear (131) being installed on column (12), the pedestal (11) is equipped with direction motor (133), the direction The output shaft of motor (133) is equipped with the first worm screw (132) cooperated with the first worm gear (131).
- The system 5. a kind of intelligent ship according to claim 4 is moored a boat, it is characterised in that: the angle adjusting mechanism (14) Including the angle motor (143) being arranged on U-bracket (15), the output shaft of the angle motor (143) is equipped with the second snail Bar (142), the connecting rod (17) are equipped with the second worm gear (141) cooperated with the second worm screw (142).
- The system 6. a kind of intelligent ship according to claim 5 is moored a boat, it is characterised in that: the hawser locking device (2) Including mounting post (21), the mounting post (21) is equipped with crossbearer (22), and the crossbearer (22) turns far from mounting post (21) one end The dynamic latch hook (23) being connected with for lockking hawser, the latch hook (23) are equipped with connecting rod (24), connect on the connecting rod (24) Have the driving mechanism (25) for drive link (24) rotation, further include the first long-distance radio communication module, ship be equipped with Second long-distance radio communication module of the first long-distance radio communication module wireless telecommunications.
- The system 7. a kind of intelligent ship according to claim 6 is moored a boat, it is characterised in that: the driving mechanism (25) includes The mounting ear (251) being detachably connected on mounting post (21) is fixedly connected with hydraulic cylinder (252) on the mounting ear (251), It is rotatably connected to adjusting rod (253) on the piston rod of the hydraulic cylinder (252), the adjusting rod (253) and connecting rod (24) are separate One end of latch hook (23) is rotatablely connected.
- The system 8. a kind of intelligent ship according to claim 2 is moored a boat, it is characterised in that: the first space orientation unit It is GPS positioning module or Beidou positioning module with second space positioning unit.
- The application method of system 9. a kind of intelligent ship as claimed in claim 7 is moored a boat, it is characterised in that:Ship casts anchor to port, and specific step is as follows:S1: the first space orientation unit obtains the spatial position of line throwing gun (1), and second space positioning unit obtains hawser locking dress Set the spatial position of (2), three-dimensional space modeling unit obtain the spatial position of line throwing gun (1) and hawser locking device (2) thus Three-dimensional system of coordinate is established, and is sent to Master Control Unit, Master Control Unit establishes model according to three-dimensional system of coordinate, and calculates line throwing gun (1) launch angle, direction and dynamics；S2: line throwing gun (1) control unit receives launch angle, direction and the dynamics of the line throwing gun (1) of Master Control Unit, thus to slash The launch angle of cable rifle (1), direction are adjusted, and the air inflow for controlling pneumatic gun (16) is then emitted, winch control list Member driving winch cable laying rope；S3: being covered hawser on latch hook (23) by the staff on bank, fixed to hawser,Specific step is as follows for ship departure from port anchor:A1: staff sends the signal that unlocks to locking device control unit by Master Control Unit, so that hawser takes off automatically From latch hook (23)；A2: winch furls hawser, works at the same time personnel and enters the transmitting bulb stopper of cable end in pneumatic gun (16), in case carrying out Emit next time.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910165567.7A CN109883265A (en) | 2019-03-05 | 2019-03-05 | A kind of intelligent ship is moored a boat system and application method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910165567.7A CN109883265A (en) | 2019-03-05 | 2019-03-05 | A kind of intelligent ship is moored a boat system and application method |
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ID=66930814
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| CN201910165567.7A Pending CN109883265A (en) | 2019-03-05 | 2019-03-05 | A kind of intelligent ship is moored a boat system and application method |
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| WO2021027041A1 (en) * | 2019-08-14 | 2021-02-18 | 青岛科技大学 | Intelligent ship recovery device |
| CN113104177A (en) * | 2021-05-12 | 2021-07-13 | 南京佳乐船舶设备有限公司 | Signal bullet launching device and signal bullet applied to same |
| CN113581380A (en) * | 2021-06-25 | 2021-11-02 | 中国船舶重工集团公司第七一三研究所 | Automatic capturing and traction device for unmanned boat recovery |
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Application publication date: 20190614 |