CN113415387A - Multifunctional offshore intelligent landing device and control method - Google Patents
Multifunctional offshore intelligent landing device and control method Download PDFInfo
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- CN113415387A CN113415387A CN202110888937.7A CN202110888937A CN113415387A CN 113415387 A CN113415387 A CN 113415387A CN 202110888937 A CN202110888937 A CN 202110888937A CN 113415387 A CN113415387 A CN 113415387A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
- B63B27/14—Arrangement of ship-based loading or unloading equipment for cargo or passengers of ramps, gangways or outboard ladders ; Pilot lifts
- B63B27/143—Ramps
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
- B63B27/14—Arrangement of ship-based loading or unloading equipment for cargo or passengers of ramps, gangways or outboard ladders ; Pilot lifts
- B63B2027/141—Arrangement of ship-based loading or unloading equipment for cargo or passengers of ramps, gangways or outboard ladders ; Pilot lifts telescopically extendable
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Abstract
本申请提供了一种多功能海上智能着陆装置及控制方法。多功能海上智能着陆装置包括登乘平台和着陆锥。着陆锥具有展开状态和收合状态，着陆锥包括万向铰，和铰接至万向铰的球体的外侧臂和内侧臂，着陆板铰接至内侧臂，外侧臂可分离地卡接至着陆板，形成着陆锥的展开状态；外侧臂、内侧臂和着陆板还可收起至靠近登乘平台的位置，形成着陆锥的收合状态。在展开状态，着陆板适于向下支撑至着陆点，在收合状态，外侧臂适于沿离开登乘平台的方向连接至着陆点。控制方法根据着陆点的位置，控制着陆装置呈展开状态或收合状态进行着陆，并通过传感器等装置监控着陆过程。本申请实现了海上着陆装置的多功能化和智能化。
The application provides a multifunctional marine intelligent landing device and a control method. The multifunctional marine intelligent landing device includes a boarding platform and a landing cone. The landing cone has an unfolded state and a retracted state, the landing cone includes a universal hinge, and an outer arm and an inner arm of a spherical body hinged to the universal hinge, the landing plate is hinged to the inner arm, and the outer arm is detachably snapped to the landing plate, The deployed state of the landing cone is formed; the outer arm, the inner arm and the landing plate can also be retracted to a position close to the boarding platform to form a retracted state of the landing cone. In the deployed state, the landing plate is adapted to be supported downwardly to the landing site, and in the collapsed state, the outer arms are adapted to be connected to the landing site in a direction away from the embarkation platform. The control method controls the landing device to be deployed or retracted to land according to the position of the landing point, and monitors the landing process through sensors and other devices. The present application realizes the multi-functionality and intelligence of the marine landing device.
Description
Technical Field
The application relates to the technical field of ship equipment, in particular to a multifunctional intelligent landing device on the sea and a control method.
Background
Personnel and cargo exchange between a ship and land, an ocean platform or other ships is often required, and a boarding platform is a channel for connecting the ship and the land, the ocean platform or other ships. Conventional landing gear for boarding platforms typically hold the ramp ends by applying constant tension to the step ladder transfer points via two small hydraulic cylinders. When the landing place of the boarding platform is different from the height of the ship, a safety channel is difficult to form between the boarding platform and the landing place in such a mode, so that the personal safety of platform constructors is difficult to ensure under the working condition of the ship.
Therefore, the invention patent application with the publication number of CN105539744A provides an active compensation type offshore platform landing device, wherein a springboard base and a seat frame are connected through a hydraulic lifting mechanism, and the hydraulic lifting mechanism is controlled through a control device so as to actively compensate the lifting of a ship caused by waves.
However, the above technical solutions still have the following disadvantages:
1. the active compensation system is complex and high in cost, can generate high energy consumption after being used for a long time, and has a small application range;
2. only a landing way of contacting a landing point from top to bottom is provided, and the adaptability to the relative position between the landing point and the boarding platform is poor;
3. the process of engagement of the landing gear with the landing site is not intelligent and the safety of the landing process and the comfort of the operator are not good.
Disclosure of Invention
Aiming at the defects in the prior art, the landing device has the advantages of simple structure, low cost, two landing modes, good adaptability to landing points and intelligent landing process.
In order to achieve the purpose, the application provides a multifunctional intelligent landing device on the sea and a control method.
The multi-functional marine intelligent landing device is suitable for erectting between carrier and the landing site, includes: a ride platform having a connection end and a landing end, the connection end adapted to be movably connected to the vehicle; the landing cone is arranged at the landing end and comprises a landing plate and a connecting assembly, and the connecting assembly is connected between the landing plate and the boarding platform; the landing cone has an unfolded state and a folded state, in the unfolded state, a first preset distance is reserved between the landing plate and the boarding platform, and the landing plate is suitable for being supported to the landing point; in the folding state, the landing plate and the boarding platform are arranged in an overlapped mode, and the connecting component or the landing plate is suitable for being connected to the landing site.
Preferably, the connecting assembly comprises a universal hinge and an outer side arm, the universal hinge is provided with a base and a rotating body, the rotating body is universally and rotatably arranged on the base, and the base is fixed to the bottom surface of the landing tip; the landing plate has a first end and a second end, the first end being connected to the rotator; the outer side arm has a third end hinged to the swivel and a fourth end releasably connected to the second end when the landing cone is in the deployed state, the fourth end adapted to be released from the second end and positioned beyond the landing end in a length direction of the boarding platform when the landing cone is in the stowed state; the multifunctional offshore intelligent landing device further comprises a first driver for driving the outer side arm to rotate around the third end.
Preferably, the connection assembly further comprises a medial arm having a fifth end and a sixth end, the fifth end being hinged to the swivel and the sixth end being hinged to the first end; the landing cone further comprises a second driver for driving the landing plate to rotate around the first end.
Preferably, the multifunctional offshore intelligent landing gear further comprises a third driver for driving the inner side arm to rotate around the fifth end.
Preferably, the fourth end has the first joint spare of articulated setting, the second end have with the second joint spare that first joint spare matches the setting.
Preferably, the first drive comprises a first rope winder fixed to the boarding platform and a first rope having a free end connected to the outer side arm; the second driver is a hydraulic cylinder, one end of the hydraulic cylinder is hinged to the rotating body, the other end of the hydraulic cylinder is hinged to the landing plate, and the hinged position is located between the first end and the second end; the third drive includes a second rope winder secured to the boarding platform and a second rope having a free end connected to the inner side arm.
Preferably, the outer arm comprises a first arm, a second arm and at least one first connecting element, the first arm and the second arm respectively have the third end and the fourth end, the two third ends are hinged to the rotating body away from each other, and the two ends of the first connecting element are respectively fixedly connected to the first arm and the second arm, so that the two fourth ends are away from each other; the number of the first drivers is one, and the first ropes are connected to one of the first connecting members, or the number of the first drivers is two, and the two first ropes are connected to the first arm and the second arm, respectively.
Preferably, the inner side arm includes a third arm, a fourth arm and at least one second connecting member, the third arm and the fourth arm respectively have the fifth end and the sixth end, the two fifth ends are hinged to the rotating body away from each other, and two ends of the second connecting member are respectively fixedly connected to the third arm and the fourth arm, so that the two sixth ends are away from each other.
Preferably, the landing plate is provided with a first distance meter and a first pressure sensor for measuring the distance and pressure between the landing plate and the landing site, respectively; and the fourth end is provided with a second distance meter and a second pressure sensor which are respectively used for measuring the distance and the pressure between the fourth end and the landing plate.
Preferably, the first distance measuring instruments and the first pressure sensors are multiple and are uniformly and alternately arranged on the landing plate; a magnet is arranged at the joint of the fourth end and the second end, and a ferromagnetic material is arranged at the second end matched with the magnet; the multifunctional intelligent offshore landing device also comprises a video monitoring device which is arranged at the landing end and used for acquiring the image information of the landing point and/or the landing cone; the multifunctional intelligent landing gear further comprises a controller for monitoring one or more of the first distance meter, the second distance meter, the first pressure sensor, the second pressure sensor, the first driver, the second driver, the third driver and the video monitoring device.
The control method provided by the application is used for controlling any one of the multifunctional intelligent offshore landing devices, and comprises the following steps: and controlling the landing device to land in the unfolding state or the folding state according to the relative positions of the landing site and the boarding platform.
Preferably, an operator acquires the relative position of the landing site and the boarding platform according to a video monitoring device of the multifunctional intelligent offshore landing device.
Preferably, an operator monitors the landing process of the landing cone in the unfolding state according to the video monitoring device and the measurement data of the first distance meter and the first pressure sensor of the multifunctional marine intelligent landing device.
Preferably, an operator monitors the landing process of the landing cone in the folded state according to the video monitoring device and the measurement data of the second distance meter and the second pressure sensor of the multifunctional marine intelligent landing device.
The ship provided by the application is provided with a ship body, and comprises any one of the multifunctional marine intelligent landing devices, wherein the connecting end is movably connected to the ship body.
The technical effects of this application lie in:
1. the landing cone can be unfolded and folded to respectively realize two landing modes of downward contact with the landing point and forward contact with the landing point, so that the landing device of the boarding platform is multifunctional, and the adaptability to the landing point is improved;
2. the landing cone can be automatically adjusted in angle through the universal hinge, and the landing cone has the advantages of simple structure, low cost, no need of control and good reliability;
3. the landing cone is unfolded and folded in a simple mode through the arrangement of the first driver, the second driver and the third driver, so that the landing cone is low in cost and easy to control;
4. by setting the folding state, the landing cone can occupy small space when not in use, and is convenient to store;
5. through the arrangement of the first distance meter and the first pressure sensor, the landing process of the landing cone can be intelligently controlled, the landing state can be monitored in real time, and the safety of the landing process and the comfort of operators are better;
6. through the arrangement of the second distance meter and the second pressure sensor, the intelligent control and real-time monitoring of the clamping process of the outer side arm and the landing plate and the joint landing process of the outer side arm and the landing point can be realized;
7. the magnetic body arranged at the fourth end enables the clamping between the outer side arm and the landing plate and the clamping between the outer side arm and the landing point to be smooth and reliable and to be easily disengaged;
8. by means of the arrangement of the video monitoring device, an operator can acquire image information of a landing point and a landing cone in real time, and the safety of a landing process and the operation comfort of the operator are improved.
Drawings
The above features, technical features, advantages and modes of realisation of the present invention will be further described in the following detailed description of preferred embodiments thereof, which is to be read in connection with the accompanying drawings.
Fig. 1 is a schematic side view of a multifunctional intelligent landing gear according to the first embodiment and the second embodiment;
FIG. 2 is a schematic side view of the landing cone of the first and second embodiments in a deployed state;
FIG. 3 is a schematic side view of a landing cone in a retracted state according to the first and second embodiments;
FIG. 4 is a schematic view of a landing cone in a front view according to the first and second embodiments;
FIG. 5 is a schematic top view of a landing cone of the first and second embodiments;
FIG. 6 is a schematic bottom view of the rotary body according to the first and second embodiments;
the reference numbers illustrate:
1. the landing platform comprises a boarding platform, 2. a rotating body, 3. a landing plate, 4. an outer side arm, 5. a first driver, 6. an inner side arm, 7. a second driver, 8. a third driver, 9. a first pressure sensor, 10. a first distance meter, 11. a second pressure sensor, 12. a second distance meter, 13. a video monitoring device, 14. a landing cone, 201. a first lug plate, 301. a first end, 302. a second end, 303. a second lug plate, 401. a third end, 402. a fourth end, 403. a first arm, 404. a second arm, 405. a first connecting piece, 501. a first rope winder, 502. a first rope, 601. a fifth end, 602. a sixth end, 603. a third arm, 604. a fourth arm, 605. a second connecting piece, 801. a second rope winder, 802. a second rope.
Detailed Description
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following description will be made with reference to the accompanying drawings. It is obvious that the drawings in the following description are only some examples of the invention, and that for a person skilled in the art, other drawings and embodiments can be derived from them without inventive effort.
For the sake of simplicity, only the parts relevant to the invention are schematically shown in the drawings, and they do not represent the actual structure as a product. In addition, in order to make the drawings concise and understandable, components having the same structure or function in some of the drawings are only schematically illustrated or only labeled. In this document, "one" means not only "only one" but also a case of "more than one".
It should be further understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.
In this context, it is to be understood that, unless otherwise explicitly stated or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In addition, in the description of the present application, the terms "first", "second", and the like are used only for distinguishing the description, and are not intended to indicate or imply relative importance.
The first embodiment is as follows: a multifunctional intelligent landing device on the sea.
The multifunctional intelligent landing device at sea of the embodiment is used for being erected between a carrier and a landing site, and comprises a boarding platform 1, wherein the boarding platform 1 is provided with a connecting end and a landing end, and the connecting end is suitable for being movably connected to the carrier. As shown in fig. 1-3, the present embodiment further includes a landing cone 14 mounted to the landing tip. The landing cone 14 comprises a landing plate 3, an outer arm 4, an inner arm 6, a second drive 7 and a universal hinge consisting of a base and a rotator 2 which is universally connected to the base (for the sake of simplicity, the rotator 2 is only schematically shown in the figure). The universal hinge, the outer side arm 4 and the inner side arm 6 form a connecting component between the landing plate 3 and the boarding platform 1. The landing plate 3 has a first end 301 and a second end 302, the outer side arm 4 has a third end 401 and a fourth end 402, the inner side arm 6 has a fifth end 601 and a sixth end 602; the third end 401 and the fifth end 601 are hinged to the rotating body 2, and the sixth end 602 is hinged to the first end 301, respectively. The fourth end 402 has a first clip member hinged thereto, and the second end 302 has a second clip member matching the first clip member.
The landing cone 14 has an extended state and a collapsed state. Fig. 2 shows the unfolded state of the landing cone 14. In the unfolded state, the landing plate 3 is adapted to be supported down to the landing site. The landing site can be a plane on land, an ocean platform or other ships, and the plane is lower than the boarding platform 1 and is suitable for downward support of the landing plate 3. Fig. 3 shows the landing cone 14 in a retracted state, in which the landing board 3 is arranged in a superposed manner with the boarding platform 1. The outside arms 4 in the retracted state are adapted to be supported to the landing site along the length direction of the boarding platform 1 and in a direction away from the boarding platform 1. The landing point may be the plane, or a substantially vertical side surface on the ocean platform or other vessel, and the plane or the side surface is substantially flush with the boarding platform 1, or may be a clamping position on land, such as a dock, the ocean platform or other vessel, where the first clamping member is matched with the clamping position, for clamping the fourth end 402 of the outer arm 4.
The first snap-fit member of the fourth end 402 is releasably snap-fit to the second snap-fit member of the second end 302 when the landing cone 14 is in the deployed state, and the fourth end 402 is adapted to be released from the second end 302 and rotated to a position beyond the landing tip in the length direction of the boarding platform 1 when the landing cone 14 is in the collapsed state.
The present embodiment further comprises a first actuator 5 for driving the outer arm 4 to rotate around the third end 401, and the outer arm 4 can rotate between the unfolded state shown in fig. 2 and the folded state shown in fig. 3. The landing cone 14 further comprises a second actuator 7 for driving the landing plate 3 to rotate around the first end 301, the second actuator 7 is a hydraulic cylinder, one end of the hydraulic cylinder is hinged to the first ear plate 201 arranged on the rotator 2, the other end of the hydraulic cylinder is hinged to the second ear plate 303 arranged on the landing plate 3, and the position of the second ear plate 303 is between the first end 301 and the second end 302. The present embodiment further comprises a third actuator 8 for driving the inner arm 6 to rotate around the fifth end 601. The landing plate 3 and the inner side arm 6 are convertible between the unfolded state of figure 2 and the folded state of figure 3 by cooperation of the second actuator 7 and the third actuator 8.
The first drive 5 comprises a first rope winder 501 and a first rope 502, the first rope winder 501 is suitable for being fixed to the boarding platform 1, and the free end of the first rope 502 is connected to the outer side arm 4; the third drive 8 comprises a second rope winder 801 and a second rope 802, the second rope winder 801 being adapted to be fixed to the boarding platform 1, the free end of the second rope 802 being connected to the inner side arm 6. The first rope winder 501 and the second rope winder 801 are steel wire rope winders which are driven by motors and have locking functions and are available on the market, and the first rope 502 and the second rope 802 are soft steel wire ropes.
The first clamping piece and the second clamping piece can be only C-shaped bayonets and convex buckles which are in clearance fit, are clamped by pressure between the landing plate 3 and the outer side arm 4 and can be simply disengaged; the first clamping piece and the second clamping piece can be clamped through the marble buckle and the groove arranged in a matched mode, certain clamping force can be provided, the first clamping piece and the second clamping piece can be simply separated, and the first clamping piece and the second clamping piece can be connected through magnet attraction. Specifically, in the unfolded state of fig. 2, the first rope winder 501 is first controlled to pull the outer side arm 4 to rotate around the third end 401 thereof, so that the fourth end 402 is disengaged from the second end 302, until the outer side arm 4 is pulled to a position close to the boarding platform 1, so that the fourth end 402 extends out of the landing end of the boarding platform 1; then the second driver 7 is controlled to extend, so that the landing plate 3 rotates around the first end 301 to be positioned on the same plane with the inner side arm 6; referring to fig. 1, finally, the second rope winder 801 is controlled to pull the inner side arm 6 to rotate around the fifth end 601 until the inner side arm 6 and the landing plate 3 are located close to the boarding platform 1, and the landing cone 14 is in the retracted state shown in fig. 3. Conversely, when the landing cone 14 needs to be deployed, the first rope winder 501 is controlled to unwind the first rope 502, and the outer arm 4 rotates around the third end 401 under gravity reuse to the position shown in fig. 2; controlling the second cord winder 801 to unwind the second cord 802 and the inner arm 6 to rotate about the fifth end 601 under the influence of gravity to the position shown in fig. 2; the second actuator 7 is controlled to shorten, so that the landing plate 3 rotates around the first end 301 to the position shown in fig. 2, and the second end 302 is clamped to the fourth end 402, thereby completing the unfolding process.
For the first joint of the fourth end 402 to be able to be clamped downwards to the second joint of the second end 302 and horizontally forward to be clamped to the joint position of the dock, the ocean platform or other ships, the hinge joint of the first joint is required to be rotationally limited, even if the first joint can only rotate a certain angle. The range of rotation of the first snap member in this embodiment is ± 30 ° from the position shown in fig. 3.
As a variation of this embodiment, the landing plate 3 and the inner side arm 6 may be provided as one L-shaped component, and the third actuator 8 may be omitted, so that the landing cone 14 may be expanded or contracted, and the landing plate 3 may be applied to a case where the landing plate 3 has a small width in the longitudinal direction of the boarding platform 1. It is also possible to omit only the third actuator 8, leaving the hinged landing plate 3 and the inner arm 6, and to provide a rotation limitation of the inner arm 6 at the fifth end 601, i.e. the inner arm 6 is limited after rotating downwards to the position of fig. 2, whereby the landing plate 3 and the inner arm 6 can be unfolded and folded only by the second actuator 7. Similarly, the rotation range of the outer arm 4 can be limited, so that the outer arm cannot rotate continuously when rotating and dropping to the position shown in fig. 2 in the unfolding process of the landing cone 14, thereby simplifying the control difficulty of the first driver 5 and ensuring the smooth engagement of the first clamping member and the second clamping member. The rotation limitation can be achieved simply by the design of the hinge slot on the rotator 2.
As another variation of this embodiment, a universal hinge may be omitted, the third end 401, the fifth end 601 and one end of the second driver 7 are directly coaxially hinged to the boarding platform 1, the hinge shaft is perpendicular to the length direction of the boarding platform 1, and the automatic angle adjustment of the landing cone 14 may also be achieved to a certain extent, but the stable contact with the landing point cannot be ensured when the ship sways, and the landing cone is suitable for a situation where the ship is long or large and has no pitching around and only jolts up and down. And the third end 401, the fifth end 601 and one end of the second driver 7 can be hinged to the boarding platform 1 by hooke joints, the universal rotation function can be realized, the setting is convenient, the cost is low, and the stability is slightly poorer than that of a single universal joint.
The first driver 5 and the third driver 8 can also be realized by adopting a hydraulic cylinder with one end hinged to the boarding platform 1 and one end hinged to the outer side arm 4 or the inner side arm 6, and the first driver 5, the second driver 7 and the third driver 8 can also be realized by adopting a cylinder, an electric cylinder, a motor screw rod and slide block combination and the like. The bottom of the landing plate 3 can be provided with a rubber pad, so that the landing process is more stable, and the rubber pad can play a certain buffering role in the landing process and after landing.
The outer arm 4 and the inner arm 6 may be formed by a plurality of rod members, and may be hinged to the rotator 2, hinged to the landing plate 3, or engaged with each other, as shown in fig. 5, or may be formed as a single plate-shaped or other-shaped member, and may be hinged by a single hinge shaft or engaged with each other by a single engaging groove.
The landing cone 14 and associated components may also be arranged to rotate 180 ° in the horizontal plane, i.e. in the stowed position, the landing plate 3 is folded over the landing platform 1 on the side remote from the attachment end of the landing platform 1, and the second end 302 extends beyond the landing end and is adapted to contact or attach to the landing site forwards.
In practical applications, an operator may decide to land by using the landing cone 14 in the unfolded state or by using the landing cone 14 in the folded state according to the specific situation of the landing site, that is, by using the outer arm 4 or the landing plate 3 in the folded state. The landing cone 14 in the unfolding state is downwards contacted with the landing point by controlling the boarding platform 1 to realize landing, wherein the landing point is lower than the connecting end of the boarding platform 1 and the carrier. After landing, the universal hinge can automatically adjust the angle of the landing cone 14 along with the movement of the ship, so that the landing plate 3 is kept attached to the landing point, and the stability of the boarding platform 1 is ensured. The latter is suitable for the occasion that the landing site is approximately consistent with the height of the connecting end of the boarding platform 1, and is particularly suitable for the occasion that the landing site is also provided with a clamping position matched with the first clamping piece at the fourth end 402.
Example two: a multifunctional intelligent landing device on the sea.
The embodiment is further optimized on the basis of the first embodiment. As shown in fig. 5, the outer arm 4 includes a first arm 403, a second arm 404, and a first connector 405, the first arm 403 and the second arm 404 respectively have a third end 401 and a fourth end 402, the two third ends 401 are hinged to the rotating body 2 away from each other, and the two ends of the first connector 405 are fixedly connected to the first arm 403 and the second arm 404 respectively and are disposed near the fourth end 402 so that the two fourth ends 402 are away from each other. The number of the first actuators 5 is two, and two first ropes 502 are connected to the first arm 403 and the second arm 404, respectively. The third ends 401, which are remote from each other, and the first connecting members 405, which function as reinforcing members, form the outer arms 4 into a stable triangular structure while maintaining a light weight.
Similarly, the medial arm 6 comprises a third arm 603, a fourth arm 604 and a second connector 605, the third arm 603 and the fourth arm 604 having a fifth 601 and a sixth 602 end, respectively, the two fifth 601 ends being hinged away from each other to the rotation body 2, the second connector 605 having two ends fixedly connected to the third 603 and the fourth 604 arms, respectively, and being arranged close to the sixth 602 end such that the two sixth 602 ends are away from each other. In conjunction with the arrangement of the outer side arm 4, the landing cone 14 assumes a stable conical configuration in the deployed state. As shown in fig. 6, the rotator 2 is provided with a hinge position and a first ear plate 201 which are far away from each other, and the two third ends 401 and the two fifth ends 601 are far away from the hinge position, so that the structural stability of the landing cone 14 can be increased.
The landing plate 3 is further provided with 4 first distance meters 10 and 8 first pressure sensors 9 for measuring the distance and pressure between the landing plate 3 and the landing site, respectively. The first distance meter 10 is an infrared non-contact distance meter, and measures through a measuring hole (not shown) formed in the landing plate 3. The first pressure sensor 9 is a strain gauge pressure sensor that measures the pressure between the landing plate 3 and the landing site by a sensor arrangement like a scale (the arrangement position of the first pressure sensor 9 is only schematically shown in the figure, and the measurement structure thereof is not shown). Specifically, the first pressure sensor 9 may be disposed in two ways, one way is to dispose the first pressure sensor 9 between the support leg contacting the landing point and the landing plate 3, so that the accurate stress value of each support leg can be measured; in another mode, the landing plate 3 is divided into two layers, and the plurality of first pressure sensors 9 are arranged between the two layers, so that the distribution of the pressure between the landing plate 3 and the landing site can be measured, and both the two modes can meet the application occasions of the embodiment.
As shown in fig. 4, the fourth end 402 is provided with a second distance meter 12 and a second pressure sensor 11 for measuring the distance and pressure between the first snap-in element of the fourth end 402 and the second snap-in element at the second end 302, respectively. In the collapsed position shown in fig. 3, i.e. when the outer arm 4 is used to snap-fit to a snap-fit position provided on a dock, an offshore platform or another vessel, the second distance meter 12 and the second pressure sensor 11 are also used to measure the distance and pressure between the first snap-fit member and the snap-fit position. The second distance meter 12 is also an infrared non-contact distance meter, and the second pressure sensor 11 is also a strain gauge pressure sensor.
The first clamping piece at the fourth end 402 of this embodiment is further provided with a magnet, and the second clamping piece at the second end 302 is provided with a ferromagnetic material matching the magnet; a video monitoring device 13 adapted to be mounted to the landing tip of the boarding platform 1 is also provided and employs a 360 ° panoramic camera for acquiring image information of the landing site and landing cone 14. The present embodiment further comprises a controller for monitoring the first rangefinder 10, the second rangefinder 12, the first pressure sensor 9, the second pressure sensor 11, the first driver 5, the second driver 7, the third driver 8, and the video monitoring device 13.
The provision of a magnet at the fourth end 402 may help facilitate the engagement of the first and second snap members and may also facilitate the disengagement when retracting the landing cone 14. Of course, the second clamping member may be provided with a magnet, or the first clamping member and the second clamping member may be provided with magnets with opposite magnetism, respectively. The magnet can be a permanent magnet or an electromagnet. When the electromagnet is adopted, higher suction force can be set, and the controller is used for controlling the electromagnet. The video monitoring device 13 can help the operator to decide whether to land the landing cone 14 in the unfolded state or the outer arm 4 in the folded state according to the position information of the landing point, and can monitor the landing process and the unfolding process of the landing cone 14 in real time. The measurement data of the distance measuring instrument and the pressure sensor can also be displayed on a display screen of the controller in real time, so that an operator can monitor the landing process or the unfolding process of the landing cone 14 in real time, and can monitor the connection condition of the landing cone 14 or the outer side arm 4 and the landing point after landing.
As shown in fig. 4, the number of the first actuators 5 is two, two first ropes 502 are respectively connected to the first arm 403 and the second arm 404, and each first snap-in is provided with two second pressure sensors 11 and one second distance meter 12. Two sets of third drivers 8 are similarly provided. In applications requiring only a simple configuration, only one set of the first drive 5 and one set of the third drive 8 may be provided, mounted to the underside of the boarding platform 1 and connected to the first connector 405 and the second connector 605, respectively. The first distance meter 10, the first pressure sensor 9, the second distance meter 12 and the second pressure sensor 11 can be only arranged one, and most practical application occasions can be met. The first connector 405 and the second connector 605 may also be provided in plurality to further increase the structural strength of the landing cone 14.
In this embodiment, a sensor and a video monitoring device are added on the basis of the first embodiment, and an intelligent control method can be developed by combining a control system, so as to intelligently control the landing device, and can also be used as an auxiliary system for an operator, so that the landing process is safer, and the operation comfort of the operator is better.
Example three: a control method of a multifunctional offshore intelligent landing device.
The embodiment is used for controlling the multifunctional intelligent landing device at sea described in the second embodiment. The control method comprises the following steps: and controlling the landing cone 14 of the multifunctional marine intelligent landing device to be in an unfolded state or a folded state to land according to the relative position of the landing point and the boarding platform 1.
Specifically, the operator acquires the relative positions of the landing site and the boarding platform 1 according to the video monitoring device 13. If the height of the landing point is obviously lower than that of the connecting end of the boarding platform 1 and the ship, the landing cone 14 in the unfolding state is determined to land, and if the height of the landing point is approximately the same as that of the connecting end or even slightly higher than that of the connecting end, the landing cone 14 in the folding state is determined to land, namely, the outer side arm 4 contacts the side surface of the landing point or is clamped to the clamping position of the landing point, and other landing facilities such as a cable are used for completing the landing. After landing is finished by adopting any landing mode, the movable connection of the connecting ends and the hinging of the two ends of the rotating body 2 and the outer side arm 4 can provide a certain automatic angle adjusting function so as to adapt to the bumping and swinging of the ship.
The boarding platform 1 is usually provided with a pitch angle control and a length expansion control, in the landing process of the landing cone 14 in an expansion state, an operator can control the boarding platform 1 to rotate and descend according to image information provided by the video monitoring device 13 and measurement data of the first distance meter 10, when the landing plate 3 approaches a landing point, the descending speed of the boarding platform 1 can be reduced, and whether landing is finished or not is judged according to the measurement data of the first distance meter 10 and the first pressure sensor 9. After landing, the landing state can be monitored through the measurement data, and when an abnormality occurs, an alarm can be given or other emergency measures such as suspension of automatic delivery of goods and the like can be taken through the control system. Similarly, when the outside arm 4 in the retracted state is used for landing, the operator can adjust the boarding platform 1 according to the image information provided by the video monitoring device 13 and the measurement data of the second distance meter 12, reduce the approaching speed of the boarding platform 1 when the outside arm 4 approaches the landing point, and judge whether the clamping of the first clamping piece and the landing point is completed or not according to the measurement data of the second distance meter 12 and the second pressure sensor 11. After landing, the engagement state can be monitored by using the measurement data. The second distance meter 12 and the second pressure sensor 11 can also be used for monitoring the unfolding process of the landing cone 14 and the clamping state of the first clamping piece and the second clamping piece in the unfolding state, and meanwhile, the image information provided by the video monitoring device 13 is used for confirming.
Example four: a ship is provided.
The ship of the embodiment comprises a ship body, the multifunctional intelligent offshore landing device comprises the multifunctional intelligent offshore landing device of the second embodiment, and the connecting end of the boarding platform 1 is movably connected to the ship body. The controller of the multifunctional offshore intelligent landing device is integrated into a control system of a ship. Of course, the former controller can be arranged separately, and the multifunctional offshore intelligent landing device is designed into a single movable module.
The foregoing is only a preferred embodiment of the present application and the technical principles employed, and various obvious changes, rearrangements and substitutions may be made without departing from the spirit of the application. Other advantages and effects of the present application will be readily apparent to those skilled in the art from the disclosure herein. The present application is capable of other and different embodiments and its several details are capable of modifications and variations in various respects, all without departing from the spirit of the present application. The features in the above embodiments and embodiments may be combined with each other without conflict.
Claims (10)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110888937.7A CN113415387B (en) | 2021-08-04 | A multifunctional marine intelligent landing device and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110888937.7A CN113415387B (en) | 2021-08-04 | A multifunctional marine intelligent landing device and control method |
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| Publication Number | Publication Date |
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| CN113415387A true CN113415387A (en) | 2021-09-21 |
| CN113415387B CN113415387B (en) | 2025-04-18 |
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