Unmanned ship intelligent dock
阅读说明:本技术 无人船智能船坞 (Unmanned ship intelligent dock ) 是由 李兵 杨咏林 金立立 蒋云 付帅 向伦凯 叶艳军 于 2019-09-25 设计创作,主要内容包括:本发明涉及无人船领域,更具体地说,涉及无人船智能船坞,充电船坞和船坞控制柜;所述船坞控制柜固定设置在岸基上,与远方监控系统相连;所述充电船坞设置在水域上、连接在岸基边,与船坞控制柜相连;所述充电船坞,用于接收无人船发送的进坞信号;检测无人船行驶到位后,为无人船充电,并向无人船发送使无人船进入休眠状态的休眠命令;以及,待无人船充电完成后,向无人船发出出坞信号;所述船坞控制柜,用于控制充电船坞对无人船进行充电;以及,接收远方监控系统发送的休眠命令和出坞信号,并转发至充电船坞。本发明能够使无人船的停泊和充电达到无人化管理状态,无需人工进行充电和搬运。(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.)
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).
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
the
the unmanned
the unmanned
the unmanned
the unmanned
In this embodiment, the
As shown in fig. 2, the
two of the
the
the space between
the two links of mooring mechanism 500 are correspondingly connected to the sides of
The
the
The
The
the
the
In this embodiment,
The
the
As the
The
the
In this embodiment, the
As shown in fig. 4, the unmanned
The hoist fixing
the
the
The unmanned
two
the
Since the
A plurality of the lifting
Each lifting
And an upper limiting mechanism and a lower limiting mechanism for limiting lifting are arranged on the lifting
In this embodiment, in order to avoid damage to the lifting mechanism caused by human misoperation or other reasons during the travel, the lifting
As shown in fig. 3 and 7, the unmanned
The
the
The first sensor is arranged on the
The first sensor is used for detecting the
The unmanned
the
The
The guide shaft and the spring are of a telescopic structure and are arranged between the lifting
the two front limit blocks 205 are symmetrically arranged on the sides of the two sides of the
In the invention, the guide shaft and the spring are respectively provided with elastic part for limiting.
As shown in fig. 5, the unmanned
the
the
The unmanned
the
the
The
The
through holes are formed in the
the
Two
The unmanned
In the present embodiment, the unmanned
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
step three: the unmanned ship is docked, and after the charging dock detects that the unmanned ship runs in place, the lifting
step four: after the unmanned ship is charged, the
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
The
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.
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