CN110667802A - Unmanned ship intelligent dock - Google Patents

Unmanned ship intelligent dock Download PDF

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Publication number
CN110667802A
CN110667802A CN201910914048.6A CN201910914048A CN110667802A CN 110667802 A CN110667802 A CN 110667802A CN 201910914048 A CN201910914048 A CN 201910914048A CN 110667802 A CN110667802 A CN 110667802A
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CN
China
Prior art keywords
dock
unmanned ship
charging
unmanned
lifting
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
Application number
CN201910914048.6A
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Chinese (zh)
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CN110667802B (en
Inventor
李兵
杨咏林
金立立
蒋云
付帅
向伦凯
叶艳军
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Beijing Sifang Automation Co Ltd
Sifang Intelligence (wuhan) Control Technology Co Ltd
Original Assignee
Beijing Sifang Automation Co Ltd
Sifang Intelligence (wuhan) Control Technology Co Ltd
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Application filed by Beijing Sifang Automation Co Ltd, Sifang Intelligence (wuhan) Control Technology Co Ltd filed Critical Beijing Sifang Automation Co Ltd
Priority to CN201910914048.6A priority Critical patent/CN110667802B/en
Publication of CN110667802A publication Critical patent/CN110667802A/en
Application granted granted Critical
Publication of CN110667802B publication Critical patent/CN110667802B/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
    • B63C1/00—Dry-docking of vessels or flying-boats
    • B63C1/02—Floating docks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
    • B60L53/12—Inductive energy transfer
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/30—Constructional details of charging stations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/50—Charging stations characterised by energy-storage or power-generation means
    • B60L53/51—Photovoltaic means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B43/00—Improving safety of vessels, e.g. damage control, not otherwise provided for
    • B63B43/02—Improving safety of vessels, e.g. damage control, not otherwise provided for reducing risk of capsizing or sinking
    • B63B43/10—Improving safety of vessels, e.g. damage control, not otherwise provided for reducing risk of capsizing or sinking by improving buoyancy
    • B63B43/12—Improving safety of vessels, e.g. damage control, not otherwise provided for reducing risk of capsizing or sinking by improving buoyancy using inboard air containers or inboard floating members
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
    • B63C3/00—Launching or hauling-out by landborne slipways; Slipways
    • B63C3/06—Launching or hauling-out by landborne slipways; Slipways by vertical movement of vessel, i.e. by crane
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/12—Electric charging stations
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/14—Plug-in electric vehicles
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/16—Information or communication technologies improving the operation of electric vehicles
    • Y02T90/167—Systems integrating technologies related to power network operation and communication or information technologies for supporting the interoperability of electric or hybrid vehicles, i.e. smartgrids as interface for battery charging of electric vehicles [EV] or hybrid vehicles [HEV]
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y04—INFORMATION OR COMMUNICATION TECHNOLOGIES HAVING AN IMPACT ON OTHER TECHNOLOGY AREAS
    • Y04S—SYSTEMS INTEGRATING TECHNOLOGIES RELATED TO POWER NETWORK OPERATION, COMMUNICATION OR INFORMATION TECHNOLOGIES FOR IMPROVING THE ELECTRICAL POWER GENERATION, TRANSMISSION, DISTRIBUTION, MANAGEMENT OR USAGE, i.e. SMART GRIDS
    • Y04S30/00—Systems supporting specific end-user applications in the sector of transportation
    • Y04S30/10—Systems supporting the interoperability of electric or hybrid vehicles
    • Y04S30/12—Remote or cooperative charging

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Power Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Charge And Discharge Circuits For Batteries Or The Like (AREA)

Abstract

The invention relates to the field of unmanned ships, in particular to an intelligent unmanned ship dock, a charging dock and a dock control cabinet; the dock control cabinet is fixedly arranged on a shore base and is connected with a remote monitoring system; the charging dock is arranged on a water area, connected to the shore base side and connected with the dock control cabinet; the charging dock is used for receiving a docking signal sent by the unmanned ship; after detecting that the unmanned ship runs in place, charging the unmanned ship, and sending a dormancy command for enabling the unmanned ship to enter a dormancy state to the unmanned ship; after the unmanned ship is charged, sending an undocking signal to the unmanned ship; the dock control cabinet is used for controlling the charging dock to charge the unmanned ship; and receiving the sleep command and the undocking signal transmitted by the remote monitoring system and forwarding the sleep command and the undocking signal to the charging dock. The unmanned ship can be parked and charged in an unmanned management state, and manual charging and carrying are not needed.

Description

Unmanned ship intelligent dock
Technical Field
The invention relates to the field of unmanned ships, in particular to an intelligent dock of an unmanned ship.
Background
The traditional unmanned ship for monitoring generally needs manual retraction and energy supply, and needs to be manually carried to a fixed station for charging or battery replacement. Therefore, the management of the unmanned ship requires a lot of manpower and material resources, which is not favorable for maintenance and all-weather operation of the unmanned ship. On the other hand, when charging unmanned ship, charge to traditional contact, its contact is stained with water easily, and then, has the risk that causes into water the short circuit.
Disclosure of Invention
The technical problem to be solved by the present invention is to provide an unmanned ship intelligent dock, which can make the unmanned ship moor and charge to an unmanned management state without manual charging and transportation, aiming at the above-mentioned defects of the prior art.
The technical scheme adopted by the invention for solving the technical problems is as follows: constructing an unmanned ship smart dock, comprising: charging docks and dock control cabinets;
the dock control cabinet is fixedly arranged on a shore base and is connected with a remote monitoring system; the charging dock is arranged on a water area, connected to the shore base side and connected with the dock control cabinet;
the charging dock is used for receiving a docking signal sent by the unmanned ship; after detecting that the unmanned ship runs in place, charging the unmanned ship, and sending a dormancy command for enabling the unmanned ship to enter a dormancy state to the unmanned ship;
after the unmanned ship is charged, sending an undocking signal to the unmanned ship;
the dock control cabinet is used for controlling the charging dock to charge the unmanned ship;
and receiving the sleep command and the undocking signal transmitted by the remote monitoring system and forwarding the sleep command and the undocking signal to the charging dock.
Further, still include: a mooring mechanism; the charging dock is connected with a shore base side through a mooring mechanism and always floats on the water area plane;
the charging dock comprises: the unmanned ship comprises a dock body, an unmanned ship fixing mechanism, an unmanned ship lifting mechanism and an unmanned ship charging mechanism;
the dock body floats on a water area and is fixedly connected with a shore base side; the communication module is arranged on the dock body and is respectively connected with the dock control cabinet and the unmanned ship;
the unmanned ship fixing mechanism, the unmanned ship lifting mechanism and the unmanned ship charging mechanism are all arranged on the dock body;
the unmanned ship charging mechanism is used for charging the unmanned ship;
the unmanned ship fixing mechanism is used for fixing an unmanned ship which drives into the dock body;
the unmanned ship lifting mechanism is used for conveying the fixed unmanned ship to the unmanned ship charging mechanism for charging.
Still further, the dock body includes: the device comprises a dock roof, a buoy, a dock platform, a dock body and a photovoltaic panel;
the number of the floating cylinders is two, and the two floating cylinders float on a water area; the dock platform is divided into two sides, and the dock platform at each side is correspondingly and fixedly arranged on one buoy;
the dock body is divided into two sides, and each side of the dock body is correspondingly and fixedly arranged on a dock platform at one side;
spaces between the dock platforms on the two sides and between the dock bodies on the two sides are used for accommodating unmanned ships;
the dock tops are fixed on the top of the dock bodies on the two sides;
the photovoltaic panel is arranged on the top of the dock and connected with the unmanned ship charging mechanism.
Still further, the unmanned boat lifting mechanism includes: the lifting device comprises a lifting machine, a lifting rope, a lifting machine fixing frame and a lifting frame;
the elevator fixing frame is of a square frame structure, and the bottom of the elevator fixing frame is fixed in the middle of the inner side edges of the dock platforms on the two sides respectively;
the lifting machine is arranged at the top of the lifting machine fixing frame, and one end of the lifting rope is fixed on the lifting machine;
the lifting frame is of a square frame structure, is positioned between the dock platforms at the two sides and is used for bearing the unmanned ship; the top of hoisting frame can link to each other with the other end of lifting rope, and the bottom links to each other with unmanned ship fixed establishment.
Still further, the unmanned ship fixing mechanism includes: the device comprises a rear baffle, a front baffle and a first sensor;
the rear baffle is arranged on one side of the bottom of the lifting frame far away from the shore base; when the unmanned ship is loaded in the lifting frame, the rear baffle is vertically arranged, so that the unmanned ship is prevented from sliding out of one side of the lifting frame, which is far away from the shore base; when the lifting frame is empty, the rear baffle is horizontally arranged, and the unmanned ship can be ensured to drive into the lifting frame along the rear baffle;
the front baffle is vertically arranged at one side of the bottom of the lifting frame close to the shore base and can stretch back and forth along the direction of the unmanned ship running between the dock platforms at the two sides; the front baffle prevents the unmanned ship from sliding out of one side of the lifting frame close to the shore base;
the first sensor is arranged on the lifting frame and used for monitoring the front baffle; the first sensor is coupled to the dock control cabinet.
Still further, the unmanned ship charging mechanism includes: a charging module;
the charging module is used for charging the unmanned ship in a wireless coil mode and is connected with the photovoltaic panel;
the charging module is arranged on the hoist fixing frame and can horizontally stretch and retract to be close to the unmanned ship in the hoist frame.
In the above technical solution, the dock body further includes: a first guide plate and a lifting ring;
the first guide plates are divided into two parts, and the two first guide plates are oppositely arranged and respectively fixed at the inner side edges of the dock platforms at the two sides and one end far away from the shore base;
the first guide plate is used for enabling the unmanned ship to stably enter a space between the dock platforms on the two sides;
the lifting ring is fixedly arranged on the outer side of each side dock platform and used for lifting and mooring the dock;
the dock body is provided with a second sensor which is connected with the dock control cabinet and used for monitoring the state of each buoy in real time;
the dock body is provided with a third sensor and a camera for preventing the unmanned ship from being stolen; the third sensor and the camera are respectively connected with the dock control cabinet;
and the dock body is provided with a searchlight, a state display lamp and a buzzer which are connected with the dock control cabinet.
Further, the unmanned ship lifting mechanism further comprises: a lift guide, a second guide plate (306), and a pallet;
the two second guide plates are respectively arranged on two sides of the lifting frame and used for stabilizing the unmanned ship in the lifting frame;
the supporting plate is arranged at the bottom of the lifting frame and used for supporting the unmanned ship;
the lifting guide devices are multiple and are respectively fixed on the outer sides of the two sides of the lifting frame;
each lifting guide device is correspondingly contacted with the inner sides of two sides of the lifting machine fixing frame respectively, so that the lifting frame can slide up and down along the lifting machine fixing frame;
and an upper limiting mechanism and a lower limiting mechanism for limiting lifting are mounted on the lifting machine fixing frame.
Further, unmanned ship fixed establishment still includes: the device comprises a rotating shaft, a fixed rod, a first driver (204), a front limiting block, a guide shaft and a spring;
the rotating shaft is fixedly connected with one side edge of the rear baffle plate and is connected with the bottom of the lifting frame through a bearing;
the first driver is a telescopic connecting rod, one end of the first driver is fixedly connected to one side of the lifting frame, and the other end of the first driver is connected with the rotating shaft through a fixed rod;
the guide shaft and the spring are of telescopic structures and are arranged between the lifting frame and the front baffle;
the two front limiting blocks are respectively and symmetrically arranged on the sides of the two sides of the lifting frame close to the shore base.
Preferably, the unmanned ship charging mechanism further comprises: the device comprises a base, a driver fixing plate, a second driver, a guide sleeve, a first guide shaft, a front fixing plate, a second guide shaft and a charging module protecting plate;
the base is arranged in parallel with and fixedly connected with the driver fixing plate; the base is fixedly arranged on the elevator fixing frame;
the second driver is a telescopic connecting rod, one end of the second driver is fixed on the inner side of the driver fixing plate, and the other end of the second driver penetrates through the base and then is fixed on the front fixing plate;
the front fixing plate and the charging module protecting plate are arranged in parallel and are fixedly connected through a plurality of second guide shafts; the charging module is arranged in the charging module protection plate;
the base is provided with through holes, and each through hole is provided with a guide sleeve;
the first guide shaft is a telescopic connecting rod, one end of the first guide shaft is fixed on the front fixing plate, and the other end of the first guide shaft penetrates through the corresponding guide sleeve and then is fixed on the inner side of the driver fixing plate;
the unmanned ship charging mechanism is provided with a third sensor for monitoring the charging state of the unmanned ship, and the third sensor is connected with the dock control cabinet.
In the invention, the charging dock can be used for mooring the unmanned ship and charging the unmanned ship. Connecting the charging dock with a remote monitoring system through a dock control cabinet; connecting the unmanned ship, the communication module and a dock control cabinet through the communication module arranged on the charging dock; the unmanned ship can send the state information to the dock control cabinet, and the dock control cabinet sends corresponding instructions to the charging dock according to the state of the unmanned ship, so that the charging dock can be matched with various states of the unmanned ship.
The implementation of the invention has the following beneficial effects:
the unmanned ship intelligent dock can automatically receive and release the unmanned ship and supply energy, monitors the state of the dock in real time, synchronizes video to a monitoring center, remotely controls and operates, and realizes all-weather operation and unmanned management of the unmanned ship.
Drawings
The invention will be further described with reference to the accompanying drawings and examples, in which:
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic structural view of a dock body of the present invention;
FIG. 3 is a schematic structural view of the unmanned ship securing mechanism according to the present invention;
FIG. 4 is a schematic structural view of the unmanned ship lift mechanism of the present invention;
FIG. 5 is a schematic structural diagram of the unmanned ship charging mechanism according to the present invention;
FIG. 6 is an enlarged detail view of FIG. 1;
FIG. 7 is an enlarged view at M in FIG. 3;
Detailed Description
For a more clear understanding of the technical features, objects and effects of the present invention, embodiments of the present invention will now be described in detail with reference to the accompanying drawings.
As shown in fig. 1 and 6, in the unmanned ship intelligent dock of the present invention, the dock control cabinet 600 is fixedly installed on a shore base and connected to a remote monitoring system; the charging dock is arranged on a water area, connected to the shore side and connected with the dock control cabinet 600;
the charging dock is used for receiving a docking signal sent by the unmanned ship; after detecting that the unmanned ship runs in place, charging the unmanned ship, and sending a dormancy command for enabling the unmanned ship to enter a dormancy state to the unmanned ship;
after the unmanned ship is charged, sending an undocking signal to the unmanned ship;
the dock control cabinet 600 is used for controlling the charging dock to charge the unmanned ship;
and receiving the sleep command and the undocking signal transmitted by the remote monitoring system and forwarding the sleep command and the undocking signal to the charging dock.
In the embodiment, the charging dock can be used for mooring the unmanned ship and charging the unmanned ship. Connecting the charging dock with a remote monitoring system through a dock control cabinet 600; the unmanned ship, the communication module and the dock control cabinet are connected through the communication module arranged on the charging dock (the communication module is omitted in figure 1); the unmanned ship can send the state information to the dock control cabinet, and the dock control cabinet sends corresponding instructions to the charging dock according to the state of the unmanned ship, so that the charging dock can be matched with various states of the unmanned ship.
In this embodiment, the dock controller 600 is connected to and controlled by a cable (the cable is omitted from fig. 1) with the charging dock.
As shown in fig. 1, the unmanned ship intelligent dock of the present invention further includes: a mooring mechanism 500; the charging dock is connected to the shore base side through a mooring mechanism 500 and always floats on the water surface.
The mooring mechanism 500 includes two connecting rods, each having one end fixed to the shore base and the other end movably connected to the charging dock. The other end of the charging dock to which the mooring 500 is attached is movable, as the charging dock needs to adapt to changes in water surface. Therefore, the charging dock can be automatically adjusted up and down along with the lifting of the water surface and is fixed in other directions, and unmanned management is realized aiming at the position change of the unmanned ship intelligent dock.
As shown in fig. 1 and 6, the charging dock includes: a dock body 100, an unmanned ship fixing mechanism 200, an unmanned ship lifting mechanism 300, and an unmanned ship charging mechanism 400;
the dock body 100 floats on a water area and is fixedly connected with a shore base side; communication modules are provided on the dock body 100, and the communication modules are connected to the dock control cabinet 600 and the unmanned ship, respectively;
the unmanned ship fixing mechanism 200, the unmanned ship lifting mechanism 300 and the unmanned ship charging mechanism 400 are all installed on the dock body 100;
the unmanned ship charging mechanism 400 is used for charging the unmanned ship;
the unmanned ship fixing mechanism 200 for fixing an unmanned ship driven into the dock body 100;
the unmanned ship lifting mechanism 300 is used for sending the fixed unmanned ship to the unmanned ship charging mechanism 400 for charging.
In this embodiment, the dock body 100 can be automatically adjusted according to the height of the water surface, and is suitable for most of the water area, small in occupied space and convenient to maintain. The unmanned ship securing mechanism 200 secures the ship in the dock and the unmanned ship elevating mechanism 300 elevates the unmanned ship out of the water to a charging position.
As shown in fig. 2, the dock body 100 includes: a dock roof 101, a pontoon 102, a dock platform 104, a dock body 106, and a photovoltaic panel 107;
two of the buoys 102 float on the water; the dock platform 104 is divided into two sides, and the dock platform 104 on each side is correspondingly and fixedly arranged on one pontoon 102;
the dock body 106 is divided into two sides, and each side dock body 106 is correspondingly and fixedly arranged on one side dock platform 104;
the space between dock platforms 104 and dock bodies 106 is configured to hold an unmanned ship;
the two links of mooring mechanism 500 are correspondingly connected to the sides of dock platforms 104 adjacent to the shore base.
The dock roof 101 is fixed on the tops of dock bodies 106 on two sides;
the photovoltaic panel 107 is arranged on the dock roof 101 and connected with the unmanned ship charging mechanism 400.
The photovoltaic panel 107 provides electrical energy for the unmanned ship. In the embodiment, the unmanned ship is charged by solar energy, so that the purposes of energy conservation and environmental protection can be achieved. In addition, the electrical power for the charging dock can come not only from the photovoltaic panel 107, but also from an external power source since the charging dock is connected to the dock control cabinet 600 by a cable.
The dock body 100 further includes: a first guide plate 103, a lifting ring 105;
the first guide plates 103 are divided into two parts, and the two first guide plates 103 are oppositely arranged and respectively fixed at the inner side edges of the dock platforms 104 at the two sides and at one end far away from the shore base;
the first guide plate 103 is used to stably guide the unmanned ship into a space between the dock platforms 104.
In this embodiment, first guide plate 103 is a wedge-shaped plate, and the tip of the wedge-shaped plate points in the direction in which the unmanned ship exits between dock platforms 104 on both sides. The inclined surfaces of the two first guide plates 103 are oppositely arranged. The structure and the position of the first guide plate 103 enable the unmanned ship to pass through a wide-to-narrow structure (two oppositely arranged first guide plates 103) when the unmanned ship drives between the dock platforms 104 on the two sides, so that the unmanned ship can enter the unmanned ship fixing mechanism 200 more stably and more quickly when the unmanned ship drives.
The hoisting ring 105 is fixedly arranged at the outer side of each side dock platform 104 and is used for hoisting and mooring a dock;
the dock body 100 is provided with a second sensor coupled to the dock control cabinet 600 for monitoring the status of each of the pontoons 102 in real time.
As the dock body 100 floats on water, the pontoon 102 is bumped or aged and is subject to breakage and water leakage, resulting in the dock tipping or even sinking. The second sensor is installed in the dock body 100 to monitor the state of the pontoon in real time, thereby ensuring the safety of the dock.
The dock body 100 is provided with a third sensor and a camera for theft prevention unmanned ship monitoring; the third sensor and the camera are respectively connected with the dock control cabinet 600;
the dock body 100 is provided with a searchlight, a status display lamp and a buzzer which are connected with the dock control cabinet 600, so that monitoring personnel can conveniently monitor the running condition of the charging dock.
In this embodiment, the dock roof 101 and the dock body 106 protect the unmanned ship from being corroded by water and influenced by wind and waves on charging after the unmanned ship is parked, and avoid other damages caused by the fact that the unmanned ship is separated from the dock due to the wind and waves and the shake of the dock when the unmanned ship is charged or parked.
As shown in fig. 4, the unmanned boat lifting mechanism 300 includes: a hoist 301, a hoist rope 302, a hoist mount 303, and a hoist mount 304; the hoisting rope 302 is a steel wire rope.
The hoist fixing frame 303 is of a square frame structure, and the bottom of the hoist fixing frame is fixed in the middle of the inner side edges of the dock platforms 104 on the two sides respectively;
the hoister 301 is arranged at the top of the hoister fixing frame 303, and one end of the hoisting rope 302 is fixed on the hoister 301;
the lifting frame 304 is a square frame structure, is positioned between the dock platforms 104 at the two sides, and is used for bearing the unmanned ship; the lifting frame 304 may be connected at the top to the other end of the lifting line 302 and at the bottom to the unmanned boat securing mechanism 200.
The unmanned ship lifting mechanism 300 further includes: a lift guide 305, a second guide plate 306, and a pallet 307;
two second guide plates 306 are respectively installed on two sides of the lifting frame 304 and used for stabilizing the unmanned ship in the lifting frame 304;
the pallet 307 is installed at the bottom of the lifting frame 304 for supporting the unmanned ship.
Since the Tuban 307 is preferably as light in weight as possible, the pallet 307 is a plastic or wood board.
A plurality of the lifting guide devices 305 are respectively fixed on the outer sides of both sides of the lifting frame 304; the lifting guide devices 305 are roller guides or slide rail guides, and are fixed on the left and right sides or one side of the lifting frame 304, and the number of the lifting guide devices is two sets on the left and right sides or two sets on one side.
Each lifting guide 305 is in corresponding contact with the inner sides of the two sides of the lifter fixing frame 303, so that the lifting frame 304 can slide up and down along the lifter fixing frame 303.
And an upper limiting mechanism and a lower limiting mechanism for limiting lifting are arranged on the lifting machine fixing frame 303.
In this embodiment, in order to avoid damage to the lifting mechanism caused by human misoperation or other reasons during the travel, the lifting machine fixing frame 303 is provided with an upper limiting mechanism and a lower limiting mechanism to limit the lifting travel. Because the lifting repetition precision needs to be less than or equal to 2mm, a fifth sensor is further arranged on the lifting frame fixing frame 303 to ensure the precision of the lifting mechanism in lifting repetition positions.
As shown in fig. 3 and 7, the unmanned ship fixing mechanism 200 includes: a tailgate 201, a front tailgate 206, and a first sensor.
The rear baffle 201 is arranged on one side of the bottom of the lifting frame 304 far away from the shore base; when the unmanned ship is loaded in the lifting frame 304, the rear baffle 201 is vertically arranged, so that the unmanned ship is prevented from sliding out of one side of the lifting frame 304, which is far away from the shore base; when the lifting frame 304 is empty, the rear baffle 201 is horizontally arranged, and the unmanned ship is ensured to drive into the lifting frame 304 along the rear baffle 201;
the front baffle 206 is vertically arranged at one side of the bottom of the lifting frame 304 close to the shore base and can extend back and forth along the direction that the unmanned ship runs between the dock platforms 104 at the two sides; the front baffle 206 prevents the drone from sliding off the side of the lift frame 304 near the shore base.
The first sensor is arranged on the lifting frame 304 and is used for monitoring the front baffle 206; the first sensor is coupled to the dock controller 600.
The first sensor is used for detecting the front baffle 206, when the unmanned ship enters the dock, the ship can impact the front baffle 206, the front baffle 206 moves forwards together with the unmanned vehicle and the unmanned ship through the compression of the guide shaft and the spring, the first sensor detects the front baffle 206, the first sensor outputs a signal to the dock controller, the rear baffle 201 starts to act, and the ship is clamped in the front-rear direction.
The unmanned ship fixing mechanism 200 further includes: a rotating shaft 202, a fixed rod 203, a first driver 204, a front limit block 205, a guide shaft and a spring;
the rotating shaft 202 is fixedly connected to one side of the tailgate 201, and is connected to the bottom of the lifting frame 304 through a bearing. The rotating shaft 202 and bearings cooperate so that the tailgate 201 may be flipped from horizontal to vertical.
The first driver 204 is a telescopic connecting rod, one end of which is fixedly connected to one side of the lifting frame 304, and the other end of which is connected with the rotating shaft 202 through a fixed rod 203; the air or hydraulic cylinder extends and retracts the first actuator 205 to change the length. When the first actuator 205 extends and contracts, the tailgate 201 is driven to turn over.
The guide shaft and the spring are of a telescopic structure and are arranged between the lifting frame 304 and the front baffle 206;
the two front limit blocks 205 are symmetrically arranged on the sides of the two sides of the lifting frame 304 close to the shore base.
In the invention, the guide shaft and the spring are respectively provided with elastic part for limiting.
As shown in fig. 5, the unmanned ship charging mechanism 400 includes: a charging module 408;
the charging module 408 charges the unmanned ship in a wireless coil mode and is connected with the photovoltaic panel 107;
the charging module 408 is arranged on the hoist fixing frame 303, and the charging module 408 can horizontally extend and retract to be close to the unmanned ship in the hoisting frame 304.
The unmanned ship charging mechanism 400 further includes: a base 401, a driver fixing plate 402, a second driver 403, a guide sleeve 404, a first guide shaft 405, a front fixing plate 406, a second guide shaft 407, and a charging module protection plate 409;
the base 401 and the driver fixing plate 402 are arranged in parallel and fixedly connected; the base 401 is fixedly arranged on the hoisting machine fixing frame 303;
the second driver 403 is a telescopic link, one end of which is fixed inside the driver fixing plate 402, and the other end of which passes through the base 401 and is fixed on the front fixing plate 406.
The charging module 408 is driven by the second driver 403 when it is close to the unmanned ship. And the second actuator 403 is driven to extend and contract by an air cylinder or a hydraulic cylinder.
The front fixing plate 406 and the charging module protection plate 409 are arranged in parallel and fixedly connected through a plurality of second guide shafts 407; the charging module 408 is arranged in a charging module protection board 409;
through holes are formed in the base 401, and a guide sleeve 404 is arranged on each through hole;
the first guide shaft 405 is a telescopic link, one end of which is fixed on the front fixing plate 406, and the other end of which passes through the corresponding guide sleeve 404 and then is fixed on the inner side of the driver fixing plate 402.
Two first guide shafts 405 are respectively disposed at both sides of the second driver 403 to keep the charging module 408 more stable when approaching or departing from the unmanned ship.
The unmanned ship charging mechanism 400 is provided with a fourth sensor for monitoring the charging state of the unmanned ship, and the fourth sensor is connected to the dock control cabinet 600. The fourth sensor monitors the charging voltage, current, battery current and the like of the unmanned ship in real time, and the unmanned ship is automatically disconnected after charging is completed, so that energy waste is avoided.
In the present embodiment, the unmanned ship fixing mechanism 200, the unmanned ship lifting mechanism 300, and the unmanned ship charging mechanism 400 are provided with sensors for detecting the operating conditions of the respective mechanisms.
The working steps of this embodiment are as follows:
the method comprises the following steps: when the unmanned ship receives a command of returning to the dock or the electric quantity is insufficient and the unmanned ship needs to return to the dock for charging, the unmanned ship sends a docking signal to the nearby intelligent dock of the unmanned ship;
step two: the unmanned ship automatically drives to the area near the nearest intelligent dock of the unmanned ship, and the charging dock starts to work; the hoist 301 is lowered to the lifting frame 304, the rear baffle 201 is horizontally put down, and the unmanned ship is ready to dock;
step three: the unmanned ship is docked, and after the charging dock detects that the unmanned ship runs in place, the lifting machine 301 drives the lifting frame 304 to lift the unmanned ship to a charging position; the charging module 408 is close to the unmanned ship and starts to charge the unmanned ship; meanwhile, the charging dock sends out a command that the unmanned ship enters the dormancy state, so that the unmanned ship enters the dormancy state;
step four: after the unmanned ship is charged, the charging module 408 is disconnected;
step five: the unmanned ship receives the cruising task, the charging dock sends out an unmanned ship undocking command, the unmanned ship enters a working state, and the unmanned ship is automatically ignited to be undocked and driven to a specified working area for operation.
The unmanned ship intelligent dock can automatically receive and release the unmanned ship and supply energy, the dock state is monitored in real time, videos are synchronized to a monitoring center, remote control and operation are conducted, and all-weather operation and unmanned management of the unmanned ship are achieved. Moreover, when the unmanned ship charging mechanism 400 charges the unmanned ship, a coil-free charging mode is adopted, so that the risk of short circuit caused by water entering the line is avoided. In addition, the photovoltaic panel 107 provides the charging power supply, so that the effects of environmental protection and energy conservation can be achieved.
The dock body 100 in this embodiment is provided with the pontoons 102, and the pontoons 102 are connected by the connecting members, so that the replacement is convenient. The dock body 100 is fixed and installed on the water surface through the mooring mechanism 500, can be automatically adjusted up and down along with the lifting of the water surface, is fixed in other directions, and realizes unmanned management. The unmanned ship fixing mechanism 200 and the unmanned ship lifting mechanism 300 are arranged on the charging dock; the unmanned ship fixing mechanism 200 fixes the ship in the dock, and the unmanned ship lifting mechanism 300 lifts the unmanned ship out of the water to a charging position, so that the ship is protected from being corroded by water and being influenced by wind and waves after being parked, and other damages caused by the fact that the unmanned ship is separated from the dock due to the wind and waves and the shake of the dock when the unmanned ship is charged or parked are avoided.
While the present invention has been described with reference to the embodiments shown in the drawings, the present invention is not limited to the embodiments, which are illustrative and not restrictive, and it will be apparent to those skilled in the art that various changes and modifications can be made therein without departing from the spirit and scope of the invention as defined in the appended claims.

Claims (10)

1. An unmanned shipboard smart dock, comprising: a charging dock and dock control cabinet (600);
the dock control cabinet (600) is fixedly arranged on a shore base and is connected with a remote monitoring system; the charging dock is arranged on a water area, connected to the shore side and connected with a dock control cabinet (600);
the charging dock is used for receiving a docking signal sent by the unmanned ship; after detecting that the unmanned ship runs in place, charging the unmanned ship, and sending a dormancy command for enabling the unmanned ship to enter a dormancy state to the unmanned ship;
after the unmanned ship is charged, sending an undocking signal to the unmanned ship;
the dock control cabinet (600) is used for controlling the charging dock to charge the unmanned ship;
and receiving the sleep command and the undocking signal transmitted by the remote monitoring system and forwarding the sleep command and the undocking signal to the charging dock.
2. The unmanned marine smart dock of claim 1, further comprising: a mooring mechanism (500); the charging dock is connected with the shore base side through a mooring mechanism (500) and always floats on the water area plane;
the charging dock comprises: a dock body (100), an unmanned ship fixing mechanism (200), an unmanned ship lifting mechanism (300), and an unmanned ship charging mechanism (400);
the dock body (100) floats on a water area and is fixedly connected with a shore base side; communication modules are arranged on the dock body (100), and are respectively connected with the dock control cabinet (600) and the unmanned ship;
the unmanned ship fixing mechanism (200), the unmanned ship lifting mechanism (300) and the unmanned ship charging mechanism (400) are all installed on the dock body (100);
the unmanned ship charging mechanism (400) is used for charging the unmanned ship;
the unmanned ship fixing mechanism (200) is used for fixing an unmanned ship driven into the dock body (100);
the unmanned ship lifting mechanism (300) is used for conveying the fixed unmanned ship to the unmanned ship charging mechanism (400) for charging.
3. The unmanned marine smart dock of claim 2, wherein the dock body (100) comprises: the device comprises a dock top (101), a buoy (102), a dock platform (104), a dock body (106) and a photovoltaic panel (107);
two of the buoys (102) float on the water area; the dock platform (104) is divided into two sides, and the dock platform (104) on each side is correspondingly and fixedly arranged on one buoy (102);
the dock body (106) is divided into two sides, and each side of the dock body (106) is correspondingly and fixedly arranged on a side dock platform (104);
spaces between the dock platforms (104) on the two sides and between the dock bodies (106) on the two sides are used for accommodating unmanned ships;
the dock roof (101) is fixed at the tops of the dock bodies (106) on the two sides;
the photovoltaic panel (107) is arranged on the dock roof (101) and is connected with the unmanned ship charging mechanism (400).
4. The unmanned marine smart dock of claim 3, wherein the unmanned boat lift mechanism (300) comprises: the lifting device comprises a lifting machine (301), a lifting rope (302), a lifting machine fixing frame (303) and a lifting frame (304);
the elevator fixing frame (303) is of a square frame structure, and the bottom of the elevator fixing frame is respectively fixed in the middle of the inner side edges of the dock platforms (104) at two sides;
the lifting machine (301) is arranged at the top of the lifting machine fixing frame (303), and one end of the lifting rope (302) is fixed on the lifting machine (301);
the lifting frame (304) is of a square frame structure, is positioned between the dock platforms (104) at two sides and is used for bearing the unmanned ship; the top of the lifting frame (304) can be connected with the other end of the lifting rope (302), and the bottom is connected with the unmanned ship fixing mechanism (200).
5. The unmanned marine smart dock of claim 4, wherein the unmanned marine securing mechanism (200) comprises: a tailgate (201), a front tailgate (206), and a first sensor;
the rear baffle (201) is arranged on one side of the bottom of the lifting frame (304) far away from the shore base; when the unmanned ship is loaded in the lifting frame (304), the rear baffle (201) is vertically arranged, so that the unmanned ship is prevented from sliding out of one side of the lifting frame (304) far away from the shore base; when the lifting frame (304) is empty, the rear baffle (201) is horizontally arranged, and the unmanned ship is ensured to drive into the lifting frame (304) along the rear baffle (201);
the front baffle (206) is vertically arranged at one side of the bottom of the lifting frame (304) close to the shore base and can extend back and forth along the direction that the unmanned ship runs between the dock platforms (104) at the two sides; the front baffle (206) prevents the unmanned ship from sliding out of one side of the lifting frame (304) close to the shore base;
the first sensor is arranged on the lifting frame (304) and used for monitoring the front baffle (206); the first sensor is coupled to a dock control cabinet (600).
6. The unmanned marine smart dock of claim 5, wherein the unmanned marine charging mechanism (400) comprises: a charging module (408);
the charging module (408) is used for charging the unmanned ship in a wireless coil mode and is connected with the photovoltaic panel (107);
the charging module (408) is arranged on the elevator fixing frame (303), and the charging module (408) can horizontally stretch and retract to be close to the unmanned ship in the elevator frame (304).
7. The unmanned marine smart dock of claim 3, wherein the dock body (100) further comprises: a first guide plate (103) and a lifting ring (105);
the first guide plates (103) are divided into two parts, and the two first guide plates (103) are oppositely arranged and respectively fixed at the inner side edges of the dock platforms (104) at the two sides and one end far away from the shore base;
the first guide plate (103) is used for enabling the unmanned ship to stably enter a space between the two side dock platforms (104);
the hoisting ring (105) is fixedly arranged at the outer side of each side dock platform (104) and is used for hoisting and mooring a dock;
the dock body (100) is provided with a second sensor which is connected with the dock control cabinet (600) and is used for monitoring the state of each buoy (102) in real time;
the dock body (100) is provided with a third sensor and a camera for preventing the unmanned ship from being stolen; the third sensor and the camera are respectively connected with the dock control cabinet (600);
the dock body (100) is provided with a searchlight, a state display lamp and a buzzer which are connected with the dock control cabinet (600).
8. The unmanned marine smart dock of claim 4, wherein the unmanned ship lift mechanism (300) further comprises: a lifting guide (305), a second guide plate (306), and a pallet (307);
the two second guide plates (306) are respectively arranged on two sides of the lifting frame (304) and used for stabilizing the unmanned ship in the lifting frame (304);
the supporting plate (307) is arranged at the bottom of the lifting frame (304) and is used for supporting the unmanned ship;
a plurality of lifting guide devices (305) are respectively fixed on the outer sides of two sides of the lifting frame (304);
each lifting guide device (305) is correspondingly contacted with the inner sides of two sides of the lifting machine fixing frame (303) respectively, so that the lifting frame (304) can slide up and down along the lifting machine fixing frame (303);
and an upper limiting mechanism and a lower limiting mechanism for limiting lifting are arranged on the lifting machine fixing frame (303).
9. The unmanned marine smart dock of claim 5, wherein the unmanned marine securing mechanism (200) further comprises: a rotating shaft (202), a fixed rod (203), a first driver (204), a front limit block (205), a guide shaft and a spring;
the rotating shaft (202) is fixedly connected with one side of the rear baffle (201) and is connected with the bottom of the lifting frame (304) through a bearing;
the first driver (204) is a telescopic connecting rod, one end of the first driver is fixedly connected to one side of the lifting frame (304), and the other end of the first driver is connected with the rotating shaft (202) through a fixing rod (203);
the guide shaft and the spring are of telescopic structures and are arranged between the lifting frame (304) and the front baffle plate (206);
the two front limit blocks (205) are respectively and symmetrically arranged on the sides of the two sides of the lifting frame (304) close to the shore base.
10. The unmanned marine smart dock of claim 6, wherein the unmanned marine charging mechanism (400) further comprises: the device comprises a base (401), a driver fixing plate (402), a second driver (403), a guide sleeve (404), a first guide shaft (405), a front fixing plate (406), a second guide shaft (407) and a charging module protecting plate (409);
the base (401) is arranged in parallel with and fixedly connected with the driver fixing plate (402); the base (401) is fixedly arranged on the hoisting machine fixing frame (303);
the second driver (403) is a telescopic connecting rod, one end of the second driver is fixed on the inner side of the driver fixing plate (402), and the other end of the second driver penetrates through the base (401) and then is fixed on the front fixing plate (406);
the front fixing plate (406) is arranged in parallel with the charging module protecting plate (409) and is fixedly connected with the charging module protecting plate through a plurality of second guide shafts (407); the charging module (408) is arranged in the charging module protection board (409);
through holes are formed in the base (401), and a guide sleeve (404) is arranged on each through hole;
the first guide shaft (405) is a telescopic connecting rod, one end of the first guide shaft is fixed on the front fixing plate (406), and the other end of the first guide shaft penetrates through the corresponding guide sleeve (404) and then is fixed on the inner side of the driver fixing plate (402);
and a third sensor for monitoring the charging state of the unmanned ship is arranged on the unmanned ship charging mechanism (400), and the third sensor is connected with a dock control cabinet (600).
CN201910914048.6A 2019-09-25 2019-09-25 Unmanned ship intelligent dock Active CN110667802B (en)

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CN113009915A (en) * 2021-05-08 2021-06-22 广州小鲇智能科技有限公司 Control method and system for unmanned ship
CN113291421A (en) * 2021-05-26 2021-08-24 上海十方生态园林股份有限公司 Unmanned ship for energy supply of unmanned device
CN113772025A (en) * 2021-09-24 2021-12-10 汇能智联(深圳)科技有限公司 Electric ship capable of being intelligently charged and parking charging system thereof
CN114228547A (en) * 2021-12-13 2022-03-25 广东海洋大学 Unmanned ship inspection system for offshore wind power plant and working method of unmanned ship inspection system
CN114348206A (en) * 2022-01-25 2022-04-15 青岛太奇环境艺术设计工程有限公司 Intelligent dock facility for parking and storing unmanned ships and boats on water
CN114475946A (en) * 2022-02-28 2022-05-13 海南浙江大学研究院 Water surface retraction charging platform device and charging method for resident unmanned system
CN114537177A (en) * 2022-01-27 2022-05-27 上海市计算技术研究所 Automatic charging equipment and system for unmanned ship
CN114802649A (en) * 2022-04-18 2022-07-29 大连理工大学 Offshore unmanned dock and unmanned ship docking and undocking method
CN114954843A (en) * 2022-06-08 2022-08-30 江苏科技大学 Floating type charging dock
CN116873141A (en) * 2023-09-06 2023-10-13 珠海小鲸大合科技有限公司 Offshore movable power exchange station and power exchange method

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CN111629032A (en) * 2020-04-27 2020-09-04 四方智能(武汉)控制技术有限公司 Water quality monitoring unmanned ship remote centralized control system
CN111552287A (en) * 2020-04-27 2020-08-18 四方智能(武汉)控制技术有限公司 Unmanned ship automatic energy supply system and method based on intelligent dock
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CN112265464A (en) * 2020-11-06 2021-01-26 上海大学 Automatic charging device of unmanned ship
CN112265464B (en) * 2020-11-06 2022-10-11 上海大学 Automatic charging device of unmanned ship
CN112498144A (en) * 2020-11-30 2021-03-16 杭州电子科技大学 Solar driven anchor system type autonomous aircraft multifunctional docking station and docking method
CN113009915A (en) * 2021-05-08 2021-06-22 广州小鲇智能科技有限公司 Control method and system for unmanned ship
CN113291421A (en) * 2021-05-26 2021-08-24 上海十方生态园林股份有限公司 Unmanned ship for energy supply of unmanned device
CN113772025A (en) * 2021-09-24 2021-12-10 汇能智联(深圳)科技有限公司 Electric ship capable of being intelligently charged and parking charging system thereof
CN114228547A (en) * 2021-12-13 2022-03-25 广东海洋大学 Unmanned ship inspection system for offshore wind power plant and working method of unmanned ship inspection system
CN114348206A (en) * 2022-01-25 2022-04-15 青岛太奇环境艺术设计工程有限公司 Intelligent dock facility for parking and storing unmanned ships and boats on water
CN114537177A (en) * 2022-01-27 2022-05-27 上海市计算技术研究所 Automatic charging equipment and system for unmanned ship
CN114537177B (en) * 2022-01-27 2024-05-03 上海市计算技术研究所有限公司 Unmanned ship automatic charging equipment and system
CN114475946A (en) * 2022-02-28 2022-05-13 海南浙江大学研究院 Water surface retraction charging platform device and charging method for resident unmanned system
CN114802649A (en) * 2022-04-18 2022-07-29 大连理工大学 Offshore unmanned dock and unmanned ship docking and undocking method
CN114954843A (en) * 2022-06-08 2022-08-30 江苏科技大学 Floating type charging dock
CN114954843B (en) * 2022-06-08 2023-08-22 江苏科技大学 Floating type charging dock
CN116873141A (en) * 2023-09-06 2023-10-13 珠海小鲸大合科技有限公司 Offshore movable power exchange station and power exchange method
CN116873141B (en) * 2023-09-06 2023-12-12 珠海小鲸大合科技有限公司 Offshore movable power exchange station and power exchange method

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