CN112009623B - An active capture docking system for ship berthing - Google Patents

Abstract

The invention relates to an active capture docking system for ship berthing. The system comprises an active docking device and a passive docking device, the active docking device is arranged on the shore foundation of the berth, and the passive docking device is arranged on the ship The bow of the ship, the active docking device includes a processor, a robotic arm, a capture docking structure and a visual guidance structure, the passive docking device includes a fixed structure, an adjustable mechanism and a docked structure, and the docked structure includes When docking the joint and the target, the processor performs vision-guided control of the motion of the robotic arm based on the vision-guided structure and the target, so that the capture docking structure captures the joint and docks, and after the docking is successful, the capture docking structure and the the butt joint locking fit. Compared with the prior art, the system of the invention is stable and reliable, simple in structure and high in intelligence.

Description

An active capture docking system for ship berthing

technical field

The invention relates to the technical field of automatic ship parking, in particular to an active capture docking system for ship parking.

Background technique

When the ship is sailing on the water, when it arrives at the designated port or needs to be berthed at the docking point, it is often necessary to throw the rope carried with the ship to the docking point, and then the staff at the docking point tie one end of the rope to the docking point. Point on the shore pile.

The above-mentioned traditional ship berthing method relies on manpower, which is time-consuming and inconvenient. At the same time, the ship is fixed by ropes. Under the influence of water waves, the hull is very easy to hit the shore, which is easy to cause safety accidents.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide an active capture docking system for ship berthing, which is stable, reliable, simple in structure and highly intelligent in order to overcome the above-mentioned defects of the prior art.

The object of the present invention can be realized through the following technical solutions:

An active capture docking system for ship berthing, the system includes an active docking device and a passive docking device, the active docking device is arranged on the shore foundation of the berth, and the passive docking device is arranged on the bow of the ship ,

The active docking device includes a processor, a robotic arm, a capture docking structure and a visual guidance structure, the robotic arm is a multi-degree-of-freedom motion robotic arm structure, and the fixed end of the robotic arm is fixed on the shore foundation, so the The free end of the robotic arm fixes the capture docking structure, the vision guide structure is fixed above the capture docking structure and aligns with the passive docking device, and the robotic arm, the capture docking structure and the vision guide structure are all connected to the processor,

The passive docking device includes a fixed structure, an adjustable mechanism and a docked structure, the docked structure includes a butt joint and a target, the fixed structure is fixed on the bow, and the butt joint is fixed by an adjustable mechanism On the fixed structure, the target is fixed above the butt joint, and the butt joint is adapted to the capture docking structure,

During docking, the processor performs vision-guided control of the robotic arm movement based on the vision-guided structure and the target, so that the capture and docking structure captures the butt joint and performs docking, and after the docking is successful, the capture and docking structure is locked with the butt joint. Cooperate.

Preferably, the robotic arm includes a waist joint, a shoulder joint, an elbow joint and a wrist joint connected in sequence by connecting rods, the waist joint is fixed on the bank foundation, and the capturing and docking structure is installed on the connection of the wrist joint. On the rod, the visual guide structure is fixed at the rear of the upper side of the capture docking structure.

Preferably, the capture and docking structure includes a bell mouth and a capture ring, the bell mouth is horizontally fixed on the free end of the mechanical arm, the open end of the bell mouth faces the direction of the ship, the capture ring is arranged in the bell mouth, and the capture ring A locking structure for locking the pair of joints is provided inside, and the locking structure is connected with the processor.

Preferably, an attitude sensor is provided on the capture docking structure, the attitude sensor is connected to the processor, and the attitude sensor is used to measure and feed back the attitude of the capture docking structure, so that the bell mouth of the capture docking structure is always level.

Preferably, the inner wall of the mouth opening of the bell mouth is provided with an infrared opposite-beam sensor for detecting the entry of the butt joint into the bell mouth, the infrared opposite-beam sensors are arranged in multiple groups and are evenly distributed, and the infrared opposite-beam sensors are all connectable to the processor.

Preferably, the capture ring includes a steering gear, a telescopic part, a shaft connecting piece, a telescopic connecting piece and a compass, the compass is fixed in the bell mouth, the mid-perpendicular line of the compass is parallel to the central axis of the bell mouth, and the compass is on the There is a circle of hollow areas, and the telescopic parts are arranged in multiple and pass through the hollow areas. One end of the telescopic parts is a clamping end, which is located on the side of the open end of the bell mouth of the compass, and the other end of the telescopic parts is connected by a telescopic connector. Connect the shaft connector, the shaft connector is connected to the steering gear, the hollow area on the compass has different radii at different positions, and the compass is located at the side center point on the side of the open end of the bell mouth There is a force sensor, the steering gear and the force sensor are connected to the processor,

When the butt joint is not docked, the steering gear drive telescopic part is located at the large-diameter position of the hollow area on the compass, and the clamping ends of the plurality of telescopic parts are far away from each other to form a hollow area. When the butt joint enters the bell mouth and touches the force sensor Afterwards, the processor controls the steering gear to drive the telescopic component to move to the small diameter position of the hollow area on the compass, and the clamping ends of the plurality of telescopic components are close to each other and clamp the butt joint.

Preferably, the adjustable mechanism includes a vertical sliding screw rod and a horizontal sliding screw rod, the vertical sliding screw rod is installed on the fixed structure in the vertical direction, and the horizontal sliding screw rod is installed in the vertical sliding screw rod in the horizontal direction. The screw rod can move up and down along the direction of the vertical sliding screw rod, and the butt joint is installed on the horizontal sliding screw rod and can move horizontally along the direction of the horizontal sliding screw rod.

Preferably, the vertical sliding screw rod is fixed on the fixed structure by an angle adjustment rod, and the angle adjustment rod is used to adjust the orientation of the butt joint so that it faces the direction of the capturing butt joint structure.

Preferably, the butt joint comprises a thin rod, a metal ball and a cone shaped to fit the bell mouth, the cone is horizontally fixed on the adjustable mechanism, and the thin rod is horizontally installed on the cone At the front end of the stage, the metal ball is fixed on the head of the thin rod.

Preferably, the target is provided with a marking surface, the marking surface is arranged in the same direction as the butt joint, the visual guidance structure includes a fisheye camera and an active light illuminating member, and the fisheye Cameras and active light illuminators are positioned towards the target.

Compared with the prior art, the present invention has the following advantages:

(1) The docking system of the present invention can realize the automatic docking of the ship and the separation task of the ship leaving, which replaces the original fixed work of relying on manpower to dock the ship, so that the docking task has the characteristics of stability, reliability, convenience and high intelligence;

(2) The present invention has the function of active capture and realizes almost full autonomous docking, so it does not limit the control of the hull itself by the driver, the remote control or the unmanned system;

(3) The present invention is suitable for small and medium-sized ships, such as speedboats, yachts, unmanned work boats, etc. The passive docking system is installed on the bow of the hull. According to the height of the bow and the distance of the butt joint from the water surface, the The height can be adjusted freely, and this design makes the embodiment of the present invention not limit the type and size of the ship, and the embodiment of the present invention can be used for berthing and docking;

(4) The present invention uses the visual guidance structure to perform target detection and positioning algorithm, and feeds back the information to the processor in real time to generate the motion control command of the robotic arm. This method can well adapt to the small size of the butt joint under the interference of water flow during the docking process. movement within the range.

Description of drawings

Fig. 1 is the structural block diagram of the active capture docking system used for ship berthing according to the present invention;

2 is a schematic structural diagram of an active capture docking system for ship berthing according to the present invention;

FIG. 3 is a cross-sectional view of the capture docking structure of the present invention;

FIG. 4 is a schematic diagram of the docking process of the captured docking structure and the docked structure according to the present invention.

In the figure, 100 is an active docking device, 102 is a robotic arm, 103 is a capture docking structure, 104 is a vision guide structure, 105 is a capture ring, 106 is a passive docking device, 107 is a fixed structure, 108 is an adjustable mechanism, and 109 is a The docked structure, 110 is the docking joint, 111 is the target, 112 is the motion control command, 113 is the locking command, 114 is the release command, 115 is the pre-docking signal, 116 is the docking signal, 117 is the butt joint pose information, and 200 is the docking signal. Waist joint, 201 is shoulder joint 201, 202 is elbow joint, 203 is wrist joint, 204 is attitude sensor, 205 is bell mouth, 206 is fisheye camera, 207 is active light illuminator, 208 is ship, 209 is vertical sliding Screw, 210 is a horizontal sliding screw, 211 is a thin rod, 212 is a metal ball, 213 is an infrared beam sensor, 300 is a steering gear, 301 is a telescopic part 301, 302 is a shaft connector, 303 is a telescopic connector, 304 is a compass, and 305 is a force sensor.

Detailed ways

The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. Note that the description of the following embodiments is merely an illustration in essence, and the present invention is not intended to limit its application or use, and the present invention is not limited to the following embodiments.

Example

An active capture docking system for ship berthing, the system includes an active docking device 100 and a passive docking device 106, the active docking device 100 is arranged on the shore foundation of the berth, and the passive docking device 106 is arranged on the bow of the ship 208, Taking into account the diversity of ship types, the present invention is designed to be suitable for berthing and docking of various types of hulls of different sizes. A method for active capture of feedback target poses.

As shown in FIG. 1 to FIG. 3 , the active docking device 100 includes a processor 101 , a robotic arm 102 , a capture docking structure 103 and a vision guidance structure 104 , the robotic arm 102 is a multi-degree-of-freedom motion robotic arm structure, and the fixed end of the robotic arm 102 Fixed on the shore base, the free end of the robotic arm 102 is fixed with the capture docking structure 103 , the vision guide structure 104 is fixed above the capture docking structure 103 and aligned with the passive docking device 106 , the robotic arm 102 , the capture docking structure 103 and the vision guidance structure 104 are connected to the processor 101,

The passive docking device 106 includes a fixed structure 107 , an adjustable mechanism 108 and a docked structure 109 . The docked structure 109 includes a butt joint 110 and a target 111 , the fixed structure 107 is fixed on the bow of the ship, and the butt joint 110 is fixed on the fixed joint through the adjustable mechanism 108 . On the structure 107, the target 111 is fixed above the docking joint 110, and the docking joint 110 is adapted to the capture docking structure 103,

During docking, the processor 101 visually guides the movement of the robotic arm 102 based on the vision guidance structure and the target 111 so that the capture docking structure 103 captures the docking joint 110 and docks.

The specific structure of the active docking device 100 is as follows:

The robotic arm 102 includes a waist joint 200, a shoulder joint 201, an elbow joint 202, and a wrist joint 203 connected in sequence by connecting rods. The waist joint 200 is fixed on the shore base, and the capture docking structure 103 is installed on the connecting rod of the wrist joint 203. Visual The guide structure 104 is fixed to the rear of the upper side of the capture docking structure 103 . Each joint of the robotic arm 102 is controlled by a stepper motor, so that the capture docking structure 103 has multiple degrees of freedom within a certain range of space.

The capture docking structure 103 includes a bell mouth 205 and a capture ring 105 , the bell mouth 205 is horizontally fixed on the free end of the robotic arm 102 , the open end of the bell mouth 205 faces the direction of the ship 208 , the capture ring 105 is arranged in the bell mouth 205 , inside the capture ring 105 A locking structure for locking the butt joint is provided, and the locking structure is connected to the processor 101 .

The capture docking structure 103 is provided with an attitude sensor 204, which is connected to the processor 101. The attitude sensor 204 is used to measure and feed back the attitude of the capture docking structure 103, so that the bell mouth 205 of the capture docking structure 103 is always in a horizontal state.

The inner wall of the opening end of the bell mouth 205 is provided with an infrared opposite-beam sensor 213 for detecting the entry of the butt joint 110 into the bell mouth 205. The infrared opposite-beam sensors 213 are arranged in multiple groups and are evenly distributed, and the infrared opposite-beam sensors 213 can all be connected to the processor 101. .

The capture ring 105 includes a steering gear 300 , a telescopic part 301 , a shaft connector 302 , a telescopic connector 303 and a compass 304 , the compass 304 is fixed in the bell mouth 205 , the vertical line of the compass 304 is parallel to the central axis of the bell mouth 205 , and the compass 304 It is rigidly fixed with the whole device and does not rotate with the operation of the steering gear 300. The compass 304 is provided with a hollow area, and a plurality of telescopic parts 301 are arranged and penetrated in the hollow area. One end of 301 is the clamping end, which is located on the side of the open end of the bell mouth 205 of the compass 304, and the other end of the telescopic part 301 is connected to the shaft connection The hollow area has different radii at different positions. A force sensor 305 is provided on the side center point of the compass 304 on the side of the open end of the bell mouth 205 . The steering gear 300 and the force sensor 305 are both connected to the processor 101 . , the steering gear 300 drives the telescopic part 301 to be located at the large-diameter position of the hollow area on the compass 304 , the clamping ends of the plurality of telescopic parts 301 are far away from each other to form a hollow area, when the butt joint 110 enters the bell mouth and touches the force sensor 305 , The processor 101 controls the steering gear 300 to drive the telescopic part 301 to move to the small diameter position of the hollow area on the compass 304 , and the clamping ends of the plurality of telescopic parts 301 are close to each other and clamp the butt joint 110 .

The specific structure of the passive docking device 106 is as follows:

The adjustable mechanism 108 includes a vertical sliding screw 209 and a horizontal sliding screw 210. The vertical sliding screw 209 is installed on the fixed structure 107 in the vertical direction, and the horizontal sliding screw 210 is installed on the vertical sliding screw 209 in the horizontal direction. Moving up and down in the direction of the vertical sliding screw 209 , the butt joint 110 is mounted on the horizontal sliding screw 210 and can move horizontally along the direction of the horizontal sliding screw 210 .

The vertical sliding screw 209 is fixed on the fixing structure 107 by an angle adjusting rod, and the angle adjusting rod is used to adjust the orientation of the butt joint 110 so that it faces the direction of capturing the butt joint structure 103 .

The docked structure 109 has height and level adjustment. Its advantages are:

In order to make the present invention universal, the passive docking device 106 can be installed on the bow of ships of different sizes. If the butt joint 110 is rigidly fixed to the hull, and due to the different bow heights of different ships, the change of the water level will directly affect the feasibility of docking; if the adjustment degree of freedom in the height direction is increased in this example, the The joint 110 can be brought into the capture range of the capture docking structure 103 through height adjustment. At the same time, considering that the hull is usually difficult to move laterally in water, the degree of freedom of adjustment in the horizontal direction is added to the docked structure 109, so that the docking joint 110 can be adjusted to the active docking device 100 as far as possible by adjusting its horizontal position. The height and horizontal position of the docking joint 110 are properly adjusted by the vessel operator before the actual docking is performed.

The butt joint 110 includes a thin rod 211, a metal ball 212, and a truncated cone that is adapted to the shape of the bell mouth 205. The truncated cone is horizontally fixed on the adjustable mechanism 108, the thin rod 211 is horizontally installed at the front end of the truncated cone, and the metal ball 212 is fixed on the thin The head of the rod 211 and the thin rod 211 are made of carbon fiber material. After the three telescopic parts 301 in the capturing ring 105 are maximally folded, the hollow area in the middle can just envelop the thin rod 211 in the butt joint 110 .

The target 111 is provided with a marking surface, and the marking surface is set in the same direction as the docking head 110 . The logo surface of the target 111 uses the open-source AprilTag logo. The target surface faces the front of the hull. The target 111 is fixed on the rear side of the docked device 109. It must be ensured that it will not be touched during the docking process and its logo surface will not be touched. will be blocked. The fisheye camera 206 can capture scene information with a wide viewing angle as much as possible, and the active light illuminator 207 can enable the docking system to work in a night environment.

The whole ship docking process is divided into capture process and docking process. The following is the workflow of ship docking capture:

After the ship 208 receives the berthing signal, the ship 208 moves close to the berth by its own power, adjusts its posture, and adjusts the position of the docked structure 109. When the docking joint 110 enters the inner circle capture range of the active docking device 100, the processor 101 sends out a green light signal, The ship 208 stops all movements, and the robotic arm 102 starts to capture the movement. The capture movement is fully taken over by the active docking device 100. The specific steps are as follows:

The first thing to be done in real time is the positioning of the docking joint 110 by the active docking device 100, specifically: image acquisition by the fisheye camera 206 in the vision guidance structure 104; When the target 111 is used, the classical AprilTag algorithm can be used to calculate and obtain the six-degree-of-freedom pose of the target 111 relative to the fisheye camera 206; The relative pose relationship of the waist joint 200 can be obtained by calculating the relative pose relationship between the butt joint 110 and the waist joint 200 of the mechanical arm 102 . At this point, the identification and positioning of the joint 110 is achieved. In this illustrative example, the image acquisition rate of fisheye camera 206 is set to 10 Hz.

After positioning the docking joint 110 by the vision guidance structure 104, the joint posture information 117 is sent to the processor 101; the processor 101 plans a reasonable movement route of the robotic arm 102, and after discretization, the D-H method is used to solve each control cycle The angle that each joint of the robot arm 102 needs to be rotated; and the motion control instruction 112 is sent by the processor 101 to the motors of each joint in the robot arm 102 . It should be noted that, during the docking process, since the pose of the docking joint 110 changes in real time, the processor 101 optimizes the movement route of the robotic arm 102 in real time according to the pose information 117 of the docking joint.

In this illustrative example, the function of the attitude sensor 204 in the capture docking structure 103 in the active docking device 100 is to measure the attitude of the capture docking structure 103 in real time, and feed back the attitude information to the processor 101; The motor of the wrist joint 203 in the robotic arm 102 is controlled, so that the capturing and docking structure 103 is always kept in a horizontal state.

During the capturing process, once the docking structure 103 captures the docking joint pose information 117 obtained by the vision guidance structure 104 and detects that the docked device 109 is out of the capture range of the outer ring, the movement of the robotic arm 102 is immediately stopped, and the processor 101 A red light signal is issued to instruct the vessel controller to redo the hull and butt joint 110 height and level adjustment. After the paired joint 110 returns to the capture range of the inner circle, the processor 101 sends a green light signal, and the robotic arm 102 continues the capture movement. In the example described in this description, the outer ring capture range is the maximum capture range of the capture docking structure 103; the inner ring capture range is set to two-thirds of the maximum capture range, in order to ensure that the butt joint 110 does not frequently fall out of capture due to water flow interference scope.

The workflow for the active docking device 100 to perform capturing and docking tasks is as follows:

When the docking joint 110 enters the capture range of the capture docking structure 103, the vision guidance structure 104 locates the docking joint 110, and uploads the joint posture information 117 to the processor 101 in real time, and the processor 101 generates and controls the robotic arm 102 to capture the route When the processor 101 obtains the signal that the docking joint 110 enters the bell mouth 205, it generates and controls the robot arm 102 to move the docking route; when the docking joint 110 touches the compass 304, the processor 101 issues a locking instruction 113 to Capture the docking structure 103 ; the capturing and docking structure 103 locks the butt joint 110 through the locking structure inside the capturing ring 105 . Thus, the docking of the active docking system 100 and the passive docking system 106 is realized.

The following is the workflow of ship berthing and docking:

When the butt joint 110 enters the bell mouth 205, the precise docking process is entered. At this time, since the butt joint 110 blocks the radiation from the infrared transmitter of the infrared pairing sensor 213 to the infrared receiving end, the infrared pairing in the bell mouth 205 will be triggered at this time. The radio sensor 213 transmits the pre-docking signal 115 to the processor 101, and the processor 101 obtains the information that the docking joint 110 has entered the bell mouth 205, and plans a new path for the robot arm 102 to make the docking joint 110 go deeper into the center of the bell mouth 205. motion path.

It should be noted that the reason for planning the movement route of the two sections of the robotic arm 102 during the precise docking process is to prevent the outer side of the bell mouth 205 from hitting the butt joint 110 .

As shown in FIG. 4 from (a) through (b) to (c), the metal ball 212 from the butt joint 110 detected by the infrared through-beam sensor 213 to the butt joint 110 slowly penetrates into the bell mouth 205 and finally enters the capture ring 105 Internally locked process. Following are the steps to lock the butt joint 110 by the capture ring 105:

When in the to-be-locked state, the three telescopic parts 301 in the capture ring 105 are in an open state. At this time, the docking head 110 can always move toward the inside of the bell mouth 205 and the capture ring 105. When the docking head 110 touches the compass 304, the force sensor 305 on the compass 304 is awakened, and the docking signal 116 is sent to the processor 101; processing The controller 101 sends the locking command 113 to the steering gear 300, the steering gear 300 rotates at a certain angle, and drives the three telescopic parts 301 to rotate and fold inward through the shaft connector 302 and the telescopic connector 303; finally, the thin rod 211 is enveloped, Locking is now complete. It should be noted that, the telescopic part 301 can be folded inward because the radius of the hollow area on the compass 304 is different; while the shaft connecting part 302 and the telescopic connecting part 303 can rotate freely, so that the telescopic part 301 slides toward the The position of the small radius on the compass 304 causes the three telescopic parts 301 to be folded inward; at this time, since the metal ball 212 is located in the middle of the compass 304 and the telescopic part 301, the telescopic part 301 can only be extended upwards and outwards from the steering gear axis. Therefore, the telescopic member 301 cannot be opened outward, so as to achieve the effect of locking the butt joint 110 .

Ship Offshore Process:

The capture ring 105 should be in a locked state before the vessel leaves the shore. The processor 101 sends a release command 114 to the capture ring 105; the steering gear 300 in the capture ring 105 rotates in the opposite direction by a certain angle; the telescopic firmware 301 moves outward to release the butt joint 110; the processor 101 plans a release path for the robotic arm 102, and The motion control instruction 112 is sent to the robotic arm 102; the robotic arm 102 receives the motion control instruction 112 to perform a release motion; the processor 101 triggers a green light signal, indicating that the ship 208 can go offshore.

The active capture docking system used for ship berthing of the invention has the characteristics of stability and reliability, simple structure and high degree of intelligence. The use of the enveloping locking structure can well bear the force generated by the interference of the water flow on the hull; the capture butt structure 103 and the butted structure 109 have multiple spatial degrees of freedom, which can well cope with the differences in the height of the water level and the size of the hull. brings variability.

The above-described embodiments are merely examples, and do not limit the scope of the present invention. These embodiments can be implemented in other various forms, and various omissions, substitutions, and changes can be made without departing from the technical idea of the present invention.

Claims (2)

1. An active capture docking system for ship berthing, characterized in that the system comprises an active docking device (100) and a passive docking device (106), and the active docking device (100) is arranged on the shore of the berth Basically, the passive docking device (106) is arranged on the bow of the ship (208), The active docking device (100) includes a processor (101), a robotic arm (102), a capture docking structure (103) and a vision guidance structure (104), and the robotic arm (102) is a multi-degree-of-freedom motion machine Arm structure, the fixed end of the mechanical arm (102) is fixed on the shore base, the free end of the mechanical arm (102) is fixed to the capture and docking structure (103), the visual guide structure (104) ) is fixed over the capture docking structure (103) and aligned with the passive docking device (106), the robotic arm (102), the capture docking structure (103) and the vision guidance structure (104) are all connected to the processor (101), The passive docking device (106) includes a fixed structure (107), an adjustable mechanism (108) and a docked structure (109), the docked structure (109) including a butt joint (110) and a target (111) , the fixed structure (107) is fixed on the bow, the butt joint (110) is fixed on the fixed structure (107) by an adjustable mechanism (108), and the target (111) is fixed on the butt joint (108). 110) above, the butt joint (110) is adapted to the capture butt structure (103), During docking, the processor (101) performs vision-guided control based on the vision-guided structure and the target (111) to control the movement of the robotic arm (102) so that the capture docking structure (103) captures the butt joint (110) and performs the docking, and after the docking is successful , the capturing and docking structure (103) is locked and matched with the butt joint (110); The capturing and docking structure (103) includes a bell mouth (205) and a capturing ring (105). In the direction of the ship (208), the capture ring (105) is arranged in the bell mouth (205), and the capture ring (105) is internally provided with a locking structure for locking the butt joint, and the locking structure is connected to the processor (101); The capture docking structure (103) is provided with an attitude sensor (204), the attitude sensor (204) is connected to the processor (101), and the attitude sensor (204) is used for measuring and feeding back the capture The posture of the docking structure (103), so that the bell mouth (205) that captures the docking structure (103) is always in a horizontal state; The inner wall of the open end entrance of the bell mouth (205) is provided with an infrared on-beam sensor (213) for detecting that the butt joint (110) enters the bell mouth (205), and the infrared on-beam sensor (213) is provided with multiple groups of and evenly distributed, the infrared through-beam sensors (213) can all be connected to the processor (101); The capture ring (105) includes a steering gear (300), a telescopic part (301), a shaft connecting piece (302), a telescopic connecting piece (303) and a compass (304), and the compass (304) is fixed on the horn. In the mouth (205), the vertical line of the compass (304) is parallel to the central axis of the bell mouth (205), the compass (304) is provided with a circle of hollow areas, and the telescopic member (301) is provided with a plurality of parallel Passing through the hollow area, one end of the telescopic part (301) is a clamping end, which is located on the side of the open end of the bell mouth (205) of the compass (304), and the other end of the telescopic part (301) is connected by a telescopic connecting piece (303) Connect the shaft connector (302), the shaft connector (302) is connected to the steering gear (300), the hollow area on the compass (304) has different radii at different positions, the compass (304) A force sensor (305) is provided on the side center point on one side of the open end of the bell mouth (205) on the 304), and the steering gear (300) and the force sensor (305) are both connected to the processor (101) , When the butt joint (110) is not butted, the steering gear (300) drives the telescopic part (301) to be located at the large-diameter position of the hollow area on the compass (304), and the clamping ends of the plurality of telescopic parts (301) are far away from each other A hollow area is formed, when the butt joint (110) enters the bell mouth and touches the force sensor (305), the processor (101) controls the steering gear (300) to drive the telescopic part (301) to move to the compass ( 304) At the small-diameter position of the upper hollow area, the clamping ends of the plurality of telescopic parts (301) are close to each other and clamp the butt joint (110); The butt joint (110) comprises a thin rod (211), a metal ball (212) and a truncated cone shaped to fit with the bell mouth (205), the truncated cone is horizontally fixed on the adjustable mechanism (108) ), the thin rod (211) is horizontally installed at the front end of the truncated cone, and the metal ball (212) is fixed on the head of the thin rod (211); The target (111) is provided with a marking surface, the marking surface is arranged in the same direction as the butt joint (110), and the visual guidance structure (104) includes a fisheye camera (206) and an active a light illuminating part (207), the fisheye camera (206) and the active light illuminating part (207) are arranged towards the target (111); The adjustable mechanism (108) includes a vertical sliding screw (209) and a horizontal sliding screw (210), the vertical sliding screw (209) is installed on the fixed structure (107) in the vertical direction, and the The horizontal sliding screw (210) is installed on the vertical sliding screw (209) in the horizontal direction and can move up and down in the direction of the vertical sliding screw (209). 210) and can move horizontally along the direction of the horizontal sliding screw (210); The vertical sliding screw (209) is fixed on the fixed structure (107) through an angle adjustment rod, and the angle adjustment rod is used to adjust the orientation of the butt joint (110) to make it face the direction of the capturing butt joint structure (103). 2. An active capture docking system for ship berthing according to claim 1, characterized in that the robotic arm (102) comprises a waist joint (200), a shoulder joint ( 201), an elbow joint (202) and a wrist joint (203), the waist joint (200) is fixed on the shore base, and the capturing and docking structure (103) is installed on the connecting rod of the wrist joint (203), The visual guide structure (104) is fixed at the rear of the upper side of the capturing butt joint structure (103).

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