CN106314740B - A kind of unmanned ferryboat system of wind light mutual complementing based on internet - Google Patents

Abstract

The invention discloses an Internet-based wind-solar complementary unmanned ferry system, comprising: a ferry; a ground control subsystem, including an autonomous navigation module and a manual remote control module, and the autonomous navigation module uses It is used to realize the autonomous navigation of the ferry; the manual remote control module is used when the ferry starts, berths and unberths, or the autonomous navigation module fails; the unmanned ferry navigation subsystem includes two pod-type The propeller and the berthing and unberthing pedals installed on the ferry; the communication subsystem includes a wireless communication unit and a wired communication unit; the power subsystem includes a battery for powering the ferry and a conventional battery for charging the battery Power grid unit, wind energy maglev power generation unit and solar power generation unit. The invention can realize the safe, intelligent and reliable manned river crossing function of the unmanned ferry, and can greatly improve the reliability of intelligent power supply on board.

Description

An internet-based wind-solar hybrid unmanned ferry system

technical field

The invention relates to an energy-saving and environment-friendly unmanned ferry, in particular to an Internet-based wind-solar complementary unmanned ferry system.

Background technique

my country is a country rich in water transportation resources and tourism resources. Most of the scenic spots and tourist attractions have the characteristics of being close to mountains and rivers. Simple ferries are often used in tourist waters to carry tourists for sightseeing or to cross rivers. Tourist ferry boats need to bear huge management costs such as personnel safety boarding management, ship driving management, and ship berthing and berthing management. These factors limit the water tourism industry to a certain extent. development of.

At the same time, with the advancement of technology, more and more people choose to cruise on weekends or holidays. The navigation and communication equipment and other equipment such as lighting and television on board need power protection, and it is often inconvenient to charge the battery, especially for ships that may sail long distances. Many ships completely rely on battery discharge, which cannot meet the power needs of the ship's large and small loads.

In order to solve the problem of people crossing the river safely on both sides of the river, near the reservoir, and in special environmental areas, the problem of safe and orderly sailing of water tourism and sightseeing ferries, as well as the existing deficiencies in ship safety management and energy consumption, this application proposes an Internet-based Unmanned ferry system.

Contents of the invention

The purpose of the present invention is to provide a wind-solar complementary unmanned ferry system based on the Internet. It is based on the Internet platform and adopts a remote terminal control method, which can realize the safe, intelligent and reliable manned river crossing function of the unmanned ferry, and it uses wind energy, solar energy This continuous supply of natural resources can greatly improve the reliability of intelligent power supply on board.

The technical solution adopted by the present invention to solve its technical problems is:

An Internet-based wind-solar complementary unmanned ferry system, the system includes: a ferry for loading passengers, a ground control subsystem for controlling the automatic navigation of the ferry, and an unmanned system for realizing safe berthing and unberthing of the ferry. Passenger ferry navigation subsystem, communication subsystem and power subsystem; among them,

The ground control subsystem includes an autonomous navigation module and a manual remote control module. The autonomous navigation module is installed on the ferry. When the ferry is sailing on a fixed navigation, the autonomous navigation module performs route planning according to environmental prior information, and combines The detected real-time signals update the environment information in real time to realize the autonomous navigation of the ferry; The control station, the remote control equipment and the information collection processor installed on the ferry. The information collection processor sends the collected meteorological information and obstacle information to the ground control station for analysis and processing. information to remotely control the ferry through the remote control device;

The unmanned ferry navigation subsystem includes two pod propellers respectively installed at both ends of the ferry and berthing and unberthing pedals installed on the ferry. The pod propellers can be retracted up and down. When the water area is closer, the pod propeller rises to reduce the restriction of draft on the ferry and protect the safety of the pod propeller; outside and flattened to the shore, so that passengers can safely disembark and disembark;

The communication subsystem includes a wireless communication unit and a wired communication unit, the wireless communication unit includes a signal tower erected between the ferry and the ground control station, and the signal tower is used for the information collection processor of the ferry and the ground control station Two-way wireless communication between them; the wired communication unit includes a relay station erected at each ferry wharf, each relay station is connected to the ground control station through an optical fiber, and each relay station is wirelessly connected to the corresponding ferry;

The power subsystem includes a storage battery for powering the ferry, a conventional grid unit, a wind energy maglev power generation unit and a solar power generation unit for charging the storage battery.

According to the above-mentioned technical scheme, a master control panel is arranged in the ground control station, and the master control panel includes a track display, a cabin display, an environment display, a comprehensive parameter display, a data processor, and a navigation console. The track display is used to display the sailing track of the ferry, the cabin display and the environment display are used to monitor the situation of the water area where the ferry sails in real time, the data processor is used to analyze the navigation data of the ground control station, and the navigation console is used to realize the navigation of the ferry. remote control.

According to the above technical solution, the information collection processor includes a ship weather instrument for collecting weather information and an obstacle collection unit for collecting obstacle information, and the ship weather instrument includes a collection processing unit, and is connected with the collection unit respectively. A wind direction and speed sensor, a temperature sensor, a barometric pressure sensor, a humidity sensor, a GPS positioning unit, an electronic compass, a communication unit, an AIS device, a display unit, a storage unit and a power supply are connected to the processing unit.

According to the above technical solution, the berthing and unberthing pedal includes a springboard rotatably installed on the ferry, a buffer plate rotatably installed at the end of the springboard, and a plurality of circular tubes placed side by side on the shore, and the springboard is close to the bottom of the buffer board. A buckle slot matched with one of the round pipes is provided on the back of one end, and a retractable piston rod is installed in the springboard along the length direction. The inner wall of the buckle groove collides, and the piston rod is retracted under the action of the round tube, so as to realize the buckle groove being engaged or disengaged from the round tube; the front of the buffer plate is provided with a buffer slope.

According to the above technical solution, an elastic rubber layer is provided on the inner wall of the buckle groove.

According to the above technical solution, the system also includes a passenger safety ferry subsystem, and the passenger safety ferry subsystem includes an intelligent life jacket unit and an intelligent ferry unit.

The present invention has the following beneficial effects: the present invention establishes a complete unmanned ferry system under the "Internet+" mode, realizes the remote and efficient control of unmanned ferry navigation by personnel, and the function of autonomously and safely carrying passengers across rivers. The invention introduces the magnetic levitation technology into the wind power generation unit to solve the problem that the light wind cannot generate electricity and the wind speed required for starting is high, and adopts the vertical axis power generation method, which can solve the problem of low power generation efficiency due to the uncertain wind direction in the water area. The invention adopts the wind-solar complementary power supply method, uses high-quality wind energy and solar energy resources as power to supply power to the most important lighting and communication systems on the ship, and ensures that the ship can start sailing, GPS navigation, and use. The wind turbines and solar photovoltaic panels on board have no oil pollution, no noise and no exhaust emissions, which not only add beauty to the boat, but also provide clean energy, which plays an important role in improving green life and safety and intelligence, and promotes energy conservation and environmental protection” Green Shipping".

Description of drawings

The present invention will be further described below in conjunction with accompanying drawing and embodiment, in the accompanying drawing:

Fig. 1 is the structural representation of the embodiment of the present invention;

Fig. 2 is a structural block diagram of an embodiment of the present invention;

Fig. 3 is the working schematic diagram of ground control station in the embodiment of the present invention;

Fig. 4 is a schematic structural view of the control panel of the main control machine in an embodiment of the present invention;

Fig. 5 is an interface diagram of a comprehensive parameter display in an embodiment of the present invention;

Fig. 6 is a structural block diagram of a wireless communication unit in an embodiment of the present invention;

Fig. 7 is a structural block diagram of a wired communication unit in an embodiment of the present invention;

Fig. 8 is a compositional block diagram of a ship's meteorological instrument in an embodiment of the present invention;

Fig. 9 is a schematic structural view of a pod propeller in an embodiment of the present invention;

Figure 10 is a schematic structural view of the berthing and unparking pedals in the embodiment of the present invention;

Figure 10a is a state diagram when the buffer plate of the unparking pedal is retracted;

Fig. 10b is a state diagram when the buffer plate against the unparking pedal is deployed;

Fig. 10c is a state diagram when the buckle groove of the unparking pedal is buckled with the round pipe;

Fig. 11 is a structural block diagram of the power subsystem in the embodiment of the present invention;

Fig. 12 is a structural block diagram of a conventional grid unit in an embodiment of the present invention.

Detailed ways

In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

In a preferred embodiment of the present invention, a wind-solar complementary unmanned ferry system based on the Internet, as shown in Figure 1 and Figure 2, the system includes: a ferry for loading passengers, a vehicle for controlling the automatic navigation of the ferry Ground control subsystem, unmanned ferry navigation subsystem, communication subsystem and power subsystem for realizing safe berthing and unberthing of ferries; among them,

As shown in Figure 3, the ground control subsystem includes an autonomous navigation module and a manual remote control module. The autonomous navigation module is installed on the ferry. The detected real-time signals update the environmental information in real time to realize the autonomous navigation of the ferry; the manual remote control module is used when the ferry starts, berths and unberths, or the autonomous navigation module fails. The equipment and the information collection processor installed on the ferry, the information collection processor sends the collected meteorological information and obstacle information to the ground control station for analysis and processing, and the ground operator uses the remote control device to control the remote control of the ferry;

The navigation subsystem of the unmanned ferry includes two pod propellers installed at both ends of the ferry and berthing and unberthing pedals installed on the ferry. As shown in Figure 9, the pod propellers can be stretched up and down. When reaching the waters closer to the shore, the pod propeller rises to reduce the restriction of the draft on the ferry and protect the safety of the pod propeller; as shown in Figure 10, the berthing and unberthing pedals are used When in position, it extends out of the ferry and is flattened to the shore so that passengers can get on and off the ship safely;

The communication subsystem includes a wireless communication unit and a wired communication unit. As shown in Figure 6, the wireless communication unit includes a signal tower erected between the ferry and the ground control station, and the signal tower is used for the information collection processor of the ferry and the ground control station Two-way wireless communication between; As shown in Figure 7, the wired communication unit includes a relay station erected at each ferry wharf, each relay station is connected to the ground control station through an optical fiber, and each relay station is wirelessly connected to the corresponding ferry;

As shown in Figure 11, the power subsystem includes a storage battery for powering the ferry, a conventional grid unit, a wind energy maglev power generation unit and a solar power generation unit for charging the storage battery.

In a preferred embodiment of the present invention, as shown in Figure 4, the main control machine control panel is provided with in the ground control station, and the main control machine control panel includes a track display, a cabin display, an environment display, a comprehensive parameter display, a data processor and The navigation console and the track display are used to display the sailing track of the ferry, the cabin display and the environment display are used to monitor the water area of the ferry in real time, the data processor is used to analyze the navigation data of the ground control station, and the navigation console is used to realize the remote control of the ferry. control.

In a preferred embodiment of the present invention, the information collection processor includes a ship weather instrument for collecting weather information and an obstacle collection unit for collecting obstacle information. As shown in Figure 8, the ship weather instrument includes a collection processing unit, And a wind direction and speed sensor, a temperature sensor, an air pressure sensor, a humidity sensor, a GPS positioning unit, an electronic compass, a communication unit, an AIS device, a display unit, a storage unit and a power supply respectively connected with the collection and processing unit.

In a preferred embodiment of the present invention, as shown in Fig. 10-Fig. 10c, the berthing and unberthing pedals include a gangplank rotatably installed on the ferry, a buffer plate rotatably installed at the end of the gangway, and a plurality of circles placed side by side on the shore. There is a buckle groove matching one of the round tubes on the back of the end of the springboard near the buffer plate. A retractable piston rod is installed along the length of the springboard. When the piston rod is extended, its end crosses the buckle The groove is in conflict with the inner wall of the buckle groove, and the piston rod is retracted under the action of the round tube to realize the buckle groove being engaged or separated from the round pipe; the front of the buffer plate is provided with a buffer slope. Wherein, an elastic rubber layer is provided on the inner wall of the buckle groove.

In a preferred embodiment of the present invention, as shown in Fig. 1 and Fig. 2, the system further includes a passenger safety ferry subsystem, and the passenger safety ferry subsystem includes an intelligent life jacket unit and an intelligent ferry unit.

In the integrated control system of the unmanned ferry, the manual remote control mode is currently its main working mode. In this working mode, the ground or control operator can remotely control the unmanned ferry through the remote control device according to the navigation parameters and video information of the unmanned ferry. With the development of automatic control technology, autonomous control mode will become the main working mode. In the autonomous mode, the unmanned ferry will plan its route according to the prior information of the environment, and continuously update the environmental information with the detected real-time signals, so as to automatically control the unmanned ferry in real time. The local ground control system adopts a comprehensive mode combining manual remote control mode and autonomous navigation mode. The autonomous control mode of the unmanned ferry is applied to the autonomous navigation on the fixed route. Considering that the hydrometeorological conditions of the water area where the unmanned ferry is applied are good, and the voyage route is basically fixed without the need for route planning, the voyage time of each voyage is short, thus simplifying the autonomous control system of the unmanned ferry. The manual remote control mode is a backup control mode, which is mainly used to ensure the safe start and stable berthing and unberthing of the unmanned ferry when the unmanned ferry starts, berths and unberths, and the autonomous navigation mode fails. As shown in Figure 3, the unmanned ferry in the waters is equipped with an autonomous navigation system, while the ground station is equipped with a manual remote control system, which assists the remote control of the ground station through a main shore base station and a backup shore base station, information collection system, and communication system.

According to the functional technical requirements of the system, the ground control system design is carried out to realize various functions of the ground control station. Firstly, the basic functional units of the ground control station are determined, and then the functional units are designed modularly and combined. The system design mainly includes hardware design, software design and reliability, maintainability design and other aspects. As shown in Figure 4, the control panel of the ground control station can be composed of a track display, a cabin display, an environmental display, a ship comprehensive parameter display, a data processor, and a navigation console. Among them, the track display is responsible for displaying the track of the ferry, so that it can be judged whether the unmanned ferry is sailing in the specified track zone. The cabin display and the environment display are responsible for real-time monitoring of the situation in the water area where the people on the unmanned ferry are navigating, so that the ground control station can control it. As shown in Figure 5, the comprehensive parameter display includes information such as ship name, wind speed and wind direction information in sailing waters, temperature inside the ship, problems outside the ship, humidity, power supply, draft of the ship, operating power, ship course during navigation, and speed. The data processor has the navigation data analysis function of the ground control station. The navigation console can realize the remote control of the unmanned ferry, and has functions such as speed control and start-up. In addition, it can start the ship's autonomous navigation function, and can also control the movement of the mechanical components required for berthing and unberthing.

The communication subsystem is to realize the effective monitoring and basic communication of the unmanned ferry by the remote ground station. This project plans to adopt the communication method combining the wired communication subsystem and the wireless communication subsystem. , the other can still work independently, so as to ensure the normal operation of the communication subsystem, and complete the real-time collection, transmission and display of data such as the navigation status of the unmanned ferry, the cabin and the surrounding environment of the navigation site, as well as the sending of control commands. It realizes the remote control of the unmanned ferry and achieves the informatization of the unmanned ferry.

(1) Wireless communication subsystem: As shown in Figure 6, the wireless communication subsystem is to set up a signal tower between the unmanned ferry and the remote ground station, so that the control signal sent by the remote ground control station can be forwarded to the unmanned ferry. On the ferry, at the same time, information such as ship position and weather collected by the sensor control device of the unmanned ferry can also be fed back to the remote ground control station, thereby realizing two-way wireless communication between the ground station and the unmanned ferry.

(2) Wired communication subsystem: As shown in Figure 7, the wired communication subsystem is that in the wired communication system, a corresponding communication relay station is set up near each unmanned ferry wharf, and each communication relay station communicates with the remote ground control system. The stations are connected by optical fiber. Compared with wireless communication, wired communication transmission signal is more stable, safer and higher speed. And the wired communication network and wireless communication network we set up are independent of each other and form a whole together.

(3) Information collection subsystem: As an important part of this project, the information collection subsystem of the unmanned ferry uses various sensor devices to collect meteorological information such as wind direction, wind speed, pressure, temperature and humidity and the surrounding floating Obstacle information such as objects and ships is transmitted to the remote ground control station through the wireless data transmission network. After the analysis and processing of the remote ground control station, the navigation control signal is fed back to the unmanned ferry, thus completing the control of the unmanned ferry. remote control. The system is mainly divided into two parts: natural information collection and non-natural information collection. The natural information collection part is mainly completed by ship weather instruments with wind speed and direction sensors, temperature sensors, humidity sensors, air pressure sensors and other equipment; the non-natural information collection is mainly completed by advanced detectors, radars, and 360-degree panoramic cameras, etc. The equipment completes the detection and monitoring of obstacles such as floating objects and ships around the unmanned ferry, but considering the particularity of the unmanned ferry sailing waters studied in this project (there may be no other ships around the unmanned ferry and There are few floating objects), so this module mainly considers the part of natural information collection based on ship weather instrument.

The hardware part of the ship weather instrument is generally divided into four parts: sensor system, acquisition and processing system, communication system and power supply system. The sensor system includes weather sensor and GPS positioning system and orientation sensor. Among them, the meteorological sensor is mainly a standard sensor composed of wind speed and direction sensor, temperature sensor, humidity sensor and air pressure sensor; the GPS positioning system mainly outputs parameters such as longitude and latitude, speed and heading, and the azimuth sensor mainly outputs data such as ship heading and geomagnetic declination .

The hull of the unmanned ferry navigation system uses propellers and berthing and unberthing pedals.

1) Propeller: Two pod propellers are equipped at the bow and stern of the hull. The pod propeller (also known as POD propeller) integrates propulsion and steering devices, which greatly increases the flexibility of ship design, construction and use. The superiority of electric propulsion has been more fully reflected. The pod propeller is generally composed of a permanent magnet motor, a duct, a propeller and a controller. Its structural feature is that the motor base and the duct are integrated, and the duct is connected to the base in a cantilever manner; the rotor and the propeller are integrated, which can realize 360° The swivel improves the maneuverability of the ferry and facilitates remote control from the ground control station. In order to enable the ferry designed in this project to sail safely in shallow water areas, the propeller installed on the ferry can be retracted up and down. When the ship sails to a water area closer to the shore, the propeller rises, which can reduce the restriction of the draft on the ship. , while protecting the safety of the propeller to a certain extent.

2) Design of berthing and unberthing pedals: In order to realize the transportation function of the unmanned ferry in specific waters, and to achieve a stable and safe function during the berthing and unberthing process of the unmanned ferry, the bow and tail of the ship are similar to those used by ro-ro ships. springboard design. The old-fashioned springboard uses the mutual cooperation of the plunger cylinder piston rod and the hanging chain to control the lifting and unfolding of the springboard. At the same time, it is necessary to achieve the purpose of the springboard device to provide a fixed ship to ensure the safety of berthing and unberthing small unmanned ferries. This project has carried out certain transformations on the springboard structure of the unmanned ferry and the corresponding supporting facilities on the shore. Secondly, in order to overcome the shortcoming that the position between the traditional springboard and the fixed wharf may move with the ship, the front part of the back of the springboard is hollowed out, so as to make a buckle slot, and at the same time, the shore device of the dock is refitted into a style of multiple round pipes side by side. When the buckle groove is fastened with the matching round pipe, the piston rod on one side of the buckle groove is pushed by the spring, and the round pipe is locked in the buckle groove to realize the fastening of the buckle groove and the round pipe. On the one hand, the stability problem of the springboard is solved, and at the same time, the ship can be stabilized through the connection of the springboard.

As shown in Figure 10a-Figure 10c, when the ship docks and reaches a suitable position, the springboard on the side of the shore stretches out of the hull, and at the same time it tilts slightly downward. The springboard is flattened and the pivots are fixed, ensuring that the weight of the person can be carried. After the springboard is unfolded to 180 degrees, the protruding end begins to fall. When it falls to the round pipe close to the shore device, the piston rod is pulled apart, and the ship is adjusted so that the buckle on the springboard is firmly connected to the steel round pipe on the wharf. At the same time, the hydraulic piston in the springboard is activated to push out the piston rod and stabilize the round tube in the buckle, thereby stabilizing the ship longitudinally. After being stabilized, the previously folded buffer plate is unfolded and placed on the solid part of the shore device to facilitate the movement of personnel and goods. When leaving berth, the hydraulic pipe in the springboard controls the front piston to retract, and at the same time the springboard retracts, the stable relationship between the ship and the shore is released, and the ship can move freely to leave the berth. In order to reduce the lateral movement of the springboard after it is buckled into the steel pipe, a layer of elastic rubber is attached to the inside of the buckle of the springboard, which can reduce the impact and increase the friction between the buckle and the steel round pipe on the dock.

In the present invention, the power subsystem adopts a system combining off-grid solar photovoltaic power generation and conventional power grid charging to provide kinetic energy for the ship. The system efficiently utilizes two clean energy sources, light energy and electric energy, which is economical and efficient, and has no pollution during the operation of the ship. Gas emissions, clean and environmentally friendly. As shown in Figure 12, the berthing point of the ship is equipped with a conventional power grid that has been laid to provide power sockets. In the case of insufficient power generation at night or on rainy days, the ship can quickly provide the berthing ship with shore power when berthing. Charging to supplement the power required for operation.

It should be understood that those skilled in the art can make improvements or changes based on the above description, and all these improvements and changes should belong to the protection scope of the appended claims of the present invention.

Claims (6)

1. An Internet-based wind-solar complementary unmanned ferry system is characterized in that the system includes: a ferry for loading passengers, a ground control subsystem for controlling the automatic navigation of the ferry, and a Unmanned ferry navigation subsystem, communication subsystem and power subsystem for safe berthing and unberthing; among them, The ground control subsystem includes an autonomous navigation module and a manual remote control module. The autonomous navigation module is installed on the ferry. When the ferry is sailing on a fixed navigation, the autonomous navigation module performs route planning according to environmental prior information, and combines The detected real-time signals update the environment information in real time to realize the autonomous navigation of the ferry; The control station, the remote control equipment and the information collection processor installed on the ferry. The information collection processor sends the collected meteorological information and obstacle information to the ground control station for analysis and processing. information to remotely control the ferry through the remote control device; The unmanned ferry navigation subsystem includes two pod propellers respectively installed at both ends of the ferry and berthing and unberthing pedals installed on the ferry. The pod propellers can be retracted up and down. When the water area is closer, the pod propeller rises to reduce the restriction of draft on the ferry and protect the safety of the pod propeller; outside and flattened to the shore, so that passengers can safely disembark and disembark; The communication subsystem includes a wireless communication unit and a wired communication unit, the wireless communication unit includes a signal tower erected between the ferry and the ground control station, and the signal tower is used for the information collection processor of the ferry and the ground control station Two-way wireless communication between them; the wired communication unit includes a relay station erected at each ferry wharf, each relay station is connected to the ground control station through an optical fiber, and each relay station is wirelessly connected to the corresponding ferry; The power subsystem includes a storage battery for powering the ferry, a conventional grid unit, a wind energy maglev power generation unit and a solar power generation unit for charging the storage battery. 2. The unmanned ferry system according to claim 1, wherein a master control panel is provided in the ground control station, and the master control panel includes a track display, a cabin display, an environment display, A comprehensive parameter display, a data processor and a navigation console, the track display is used to display the navigation track of the ferry, the cabin display and the environment display are used to monitor the waters of the ferry in real time, and the comprehensive parameter display is used to display Name, wind speed and direction information of the navigation waters, temperature inside the ship, problems outside the ship, humidity, power supply, ship draft, operating power, ship heading and speed information during the navigation process, the data processor is used to analyze the navigation data of the ground control station , the navigation console is used to realize the remote control of the ferry. 3. The unmanned ferry system according to claim 1, wherein the information collection processor includes a ship weather instrument for collecting weather information and an obstacle collection unit for collecting obstacle information, the The ship meteorological instrument includes an acquisition processing unit, a wind direction wind speed sensor, a temperature sensor, an air pressure sensor, a humidity sensor, a GPS positioning unit, an electronic compass, a communication unit, an AIS device, a display unit, a storage unit and power supply. 4. The unmanned ferry system according to claim 1, wherein the berthing and unberthing pedals include a springboard that is rotatably mounted on the ferry, a buffer plate that is rotatably mounted at the end of the springboard, and a side-by-side horizontal A plurality of round pipes on the shore, the back of the end of the springboard close to the buffer plate is provided with a buckle groove matching one of the round pipes, and a retractable piston rod is installed in the springboard along the length direction. When stretching out, its end crosses the buckle groove and conflicts with the inner wall of the buckle groove, and the piston rod is retracted under the action of the round tube to realize the buckle groove engaging or breaking away from the round tube; the buffer plate There is a buffer slope on the front. 5. The unmanned ferry system according to claim 4, characterized in that an elastic rubber layer is provided on the inner wall of the buckle groove. 6. The unmanned ferry system according to claim 1, characterized in that the system further comprises a passenger safety ride subsystem, and the passenger safety ride subsystem includes an intelligent life jacket unit and an intelligent ferry unit.