• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    Summary Apparatus (100) for providing a temporary connection between two mutually movable objects (101,102), comprising respective connecting means (114,154), which are brought together to establish said connection together, a movable robot (110), arranged to continuously Moving the first connector in relation to the first object, and a control means (120) arranged to control the movements of the robot in relation to the first object, a sensing means (130) arranged to continuously unload a relative bearing between the first connection means and the second the connecting means while said objects stir sip in relation to each other. The invention is characterized in that the control means is arranged to, while the objects move sip in relation to each other, continuously guide the robot so that the first connecting means is moved, in relation to the first object and up to the second connecting means, and there connects to the second the connecting device. The invention also relates to a process.
    公开号:SE1450210A1
    申请号:SE1450210
    申请日:2014-02-21
    公开日:2015-08-22
    发明作者:Mats Sommarström
    申请人:Celective Source Ab；
    IPC主号:
    专利说明:

    The present invention relates to an apparatus and method for establishing a temporary connection between two mutually movable objects, especially where the objects comprise a respective connecting means and for which the temporary connection is established. by connecting the connecting means to each other.
    In many situations, moving objects in relation to each other need to be connected, such as different vessels such as moving in relation to each other or a moving vessel to a per se fixed installation on land. It is further common that there is a need for such temporary connections to be established and maintained for a certain period of time during which the objects are not only movable, but actually move in relation to each other.
    System Or, for example, a former customer who automatically moors boats at quays, which systems retain the boat while a connection of, for example, supply water and electricity is established and maintained.
    US 2010272517 describes a system of this type, in which a bat is softly captured by an attachment member belonging to a quay which is pushed out towards the hull of the bat and then the speed of the bat decreases towards the quay by a pressure against said hull. The attachment means may comprise suction cups.
    US 821526 describes a similar system in which an attachment means actively follows movements of the boat while the boat is moored.
    Allsolulingstodx10cx 2014-02-21130045EN 2 For land-based vehicles, it is possible, for example by US2011082612, to detect the vehicle for such a vehicle, intervene in it and lead it to a position in which an electrical connection can be established between the vehicle and a charging station.
    In the same field of technology, it is previously possible, with the aid of a multi-axle robot arm, to automatically move a connecting member to a vehicle and to establish an electrical connection there. It is possible, for example by US20100282912, to maneuver a first movable object, in the form of an aircraft, in relation to a second movable object, in the form of a second aircraft, so that a connection between the objects is established by means of the respective connecting means.
    It would be undesirable to be able to provide a flexible and automatic way of establishing a connection between two mutually movable objects which can be allowed to move in relation to each other in an at least partially unpredictable manner while a connection is being established and maintained.
    Furthermore, in many areas such as public transport, such as electrically operated traffic lanes and buses, it is difficult to transfer as much electrically carried energy as possible to a vehicle during a limited charging time during which the vehicle is at a charging station. This is especially a problem because significant investments are required to provide a charging system that can transmit high power electrical energy.
    Allsolulingstodx10cx 2014-02-21130045EN 3 Corresponding problems exist, for example, for boats and ships at locks, where there is a limited time. There is also space for filling and emptying water and the like.
    The present invention solves the problems described above.
    Thus, the invention relates to an apparatus for providing a temporary connection between two mutually movable objects, the first of said objects comprising a first connecting means and the second of said objects comprising a second connecting means, wherein said temporary connection is established in and the two connecting means being brought together and connected to each other, the device further comprising a movable first robot, arranged to continuously move the first connecting means in relation to the first object, and a control means, arranged to control the movements of the first robot and said movement of the first connecting means in relation to the first object, the device further comprising a sensing means arranged to continuously unload a relative space between the first object or the first connecting means and the second connecting means while said object moves in sip in relation to the first object. which device can be characterized in that the control means Or arranged to, while said first and second objects move in relation to each other, continuously control the first robot so that the first connecting means is moved, in relation to the first object and forward to the second connection means, and there connects to the second connection means, so that said temporary connection clamed is established.
    In addition, the invention relates to a method for effecting a temporary connection between two objects relating to each other, wherein the first of said objects comprises a first connecting means and the second of said objects comprises a second connecting means, wherein said temporary connection is established in that the two connection means are brought together and connected to each other, wherein a control means continuously controls the movements has a strange first robot so that the first connection means is thereby moved in relation to the first object, whereby a sensing means continuously reads a relative position between the first object or the first connecting means and the second connecting means while said object moves in relation to each other, which method can be characterized in that, while said first and second objects move in relation to each other, the control means con - tinuously controls the first robot so that the first connection means is moved, in relation to the first object and up to the second connection means, and there connects to the second connection means, so that said temporary connection is thereby established.
    In the following, the invention will be described in more detail, partly in connection with the accompanying drawings, in which Figure 1a illustrates a first embodiment of a device according to the invention from the side; Figure 1b illustrates a second embodiment of a device according to the invention from the side; Figures 2a and 2b illustrate a third embodiment of a device according to the invention from above and from the side, respectively; Figures 3a-3c illustrate three different successive steps according to a fourth embodiment of a device according to the invention from above; Figures 4a-4g illustrate different types of connections from the side; Allsolulingstodx10cx 2014-02-21130045EN Figures 5a-5c illustrate three different successive steps according to a fifth embodiment of a device according to the invention from above; Figure 6 illustrates a side activating means according to the invention; Figure 7 is a river diagram illustrating a method according to the invention; and Figure 8 illustrates a side view of a sixth embodiment of a device according to the invention.
    Figures 1a and 1b show two respective principle sketches of the respective preferred embodiments of devices according to the present invention. Figures 1a and 1b divide male reference numerals for corresponding parts.
    The device 100 is thus arranged to provide a temporary connection between a first 101 and a second 102, in relation to mutually movable, objects. The first 110 of said object comprises a first connection means 114, and the second 102 of said object comprises a second connection means 154. Said temporary connection is established in that the two connection means 114, 154 are brought together and connected to each other.
    A connection within the meaning of the invention does not constitute only, preferably not primarily, preferably not at all, a mooring of or between the objects, but aims to transfer a medium or energy from one object to the other. See below for examples.
    The device 100 further comprises at least one movable robot 110, arranged to continuously move the first connecting means 114 in relation to the first object 101, and a control means 120, arranged to control the movements of the robot 1 and thus said movement of the first connector 114 in relation to the first object 101.
    In addition, the device 100 comprises a sensing means 130, arranged to continuously unload a relative space between the first object 101 or the first connecting means 114 and the second connecting means 154 while the two objects 101, 102 move in relation to each other. According to the invention, the control means 120 is arranged to, while said first and second objects 101, 102 move in relation to each other, continuously control the movements of the robot 110 so that the first connecting means 114 is moved, in relation to the first object 101 and tram to the second connection means 154, and there connect to the second connection means 154, so that said temporary connection is thereby achieved. Figures 1a and 1b illustrate both, with broken lines, the situation when the temporal connection has been made.
    The different parts 110, 120, 130 are in communication with each other.
    The first connecting member 114 is thus movable in relation to the first object 101, via the robot 110. In Figures 1a and 1b the robot 110 is illustrated with a number of rigid segments 112 which are movable through arranged joints 113, but it will be appreciated that other types of robots can be used, such as traverse robots, see below. In that the sensing means 1 is arranged to read the relative position of the second connecting means 154 in relation to the first connecting means 114, alternatively in relation to the first object 101 and thus, since the robot 110 can provide feedback regarding a position of the connecting means 114 in Allsolulingstodx10cx 2014-02-21130045EN 7 relating to the object 101, indirectly in relation to the first connecting means 114, the control means 120 may send true signals to the robot 110 in order to move the first connecting means 114 in the direction of and up to the second connecting means 154, up to a ldge ddr ndmnda tempordra connection can be established.
    Figure 1b illustrates the thus preferred alternative that a second robot 150 is also used, in combination with a control means 160 and a sensing means 170. The robot 150, the control means 160, the sensing means 170, the segments 152 and the joints 153 correspond and function in a corresponding manner as the robot 110, the guide means 120, the sensing means 130, the segments 112 and the joints 113. The robot 150 is thus arranged to the connecting means 154 in relation to the object 102; the sensing means 170 is arranged to continuously unload a relative space between the object 102 or the connecting means 154 and the connecting means 114 while the objects 101, 102 move in relation to each other; and the control means 160 is arranged to control the movements of the robot 150 and thereby said movement of the connection means 154 in relation to the connection means 114.
    The robots 110, 150 thus cooperate in this case to together form the connection means 114, 154 to approach each other and occupy a space in relation to each other in which the connection can be established. The co-operation can take place by the control means 120, 160 acting independently in relation to each other, or by the control means 120, 160 communicating, in and of themselves in the same way as Over wireless Internet, with each other in order to coordinate the transfer operation. What is said in the following regarding a device with a single robot grid on the corresponding set also for a configuration in Allsolulingstodx10cx 2014-02-21130045SE 8 which two robots cooperate as for exemplary purposes is illustrated in figure lb.
    An essential aspect of the invention is that the first connecting member 114 is moved to the second connecting member 154, and there connects to the second connecting member 154, while said first and second objects 101, 102 move in relation to each other. In other words, not only are the objects 101, 102 movable in relation to each other, they actually move while the connecting means 114, 154 are being pulled together, and preferably also while the connection itself is being established, either by the object 101, the object 102 or both moves in relation to a fixed coordinate system.
    Such a device enables a connection to be established automatically between objects of different types moving in relation to each other, which in many such cases can lead to substantially improved safety and / or convenience for an operator of one 101 and / or other 102 object.
    In addition, the use of such a device, which with the aid of the sensing means 130, the control means 120 and the movable robot 110 can establish a connection even before the objects 101, 102 have achieved a stable layer in relation to each other. Suedes achieves a much more flexible way of establishing a temporary connection between the objects 101, 102, which flexibility in turn can be used to increase the efficiency in transferring a medium between the objects 101, 102.
    Such efficiencies and other advantages will be better understood by the following part of the description, in which the invention will be further concretized by means of a number of exemplary embodiments. ../../../../../../../../../../../../../../../../../../../../../../../../../../../../../../../../../../../../../../../../../../../../../../../../../../../../../../../../../../../../../../../../../../../../../../../../../ ..
    When it applies to the control means 120, this may be of any suitable type, and preferably comprises a microprocessor, a digital memory, at least one input for food data or position data and at least one output for controlling the movements of the robot. A control software is arranged to be executed on the hardware of the control means and thereby perform the actual equipment based on a number of predefined rules and monsters. The control means is in contact, for digital information exchange, with other parts of the device 100, such as with the sensing means 130 and the robot 110.
    The sensing means 130, which is arranged to sense the position of the connecting means 154 in relation to the object 101, can likewise be of different types. Advanced sensing means comprises such sensing means which act without touching the connecting means 154, such as optical sensing means, comprising one or more cameras in combination with an image analyzing software arranged to identify certain pre-known visual markers on the connecting means 154, such as text indicating the identity of a vessel. such as the number (International Maritime Organization) of a ship, or known structures that are in a known position relative to the connecting body 154; laser-based or ultrasonic-based sensing means, arranged to scan a surface comprising the connecting means and / or identify a structure having the surface and / or a distance to such a surface; a thermal camera; or similar. Radar technology, long range RFID or the like can be used to identify an approaching object, which can then be identified visually, for example.
    Allsolulingstodx10cx 2014-02-21130045EN It is preferred that the scanning means operate in two stages, where the first stage meant that an approaching vessel is detected and preferably identified. This can be done using radar, AIS, long range RFID or otherwise, as above. The second step involved visually identifying the vehicle's body, and in particular the team of one or more connecting means on the vehicle. Examples of suitable means for such visual identification include an industrial camera, preferably for detecting IR light or alternatively equipped with its own light source such as a laser light source, such as the IPR438ESX camera commercially available from Meritilin, Taiwan. Such a camera can, for example, be used together with a software such as that provided commercially by Tordivel AS, Norway, under the Scorpion Vision brand.
    It is preferred that the objects 101, 102 be movable in relation to each other, and also that they move in relation to each other during the above-mentioned movement of the member 114 in relation to the member 154, in at least two motion dimensions, such as over a surface , preferably in at least three rudder dimensions X, Y, Z, as in one room. When applied to the control means 120, it is preferably arranged to control the movement of the means 114 of the robot 110 in at least two, preferably three, motion dimensions X, Y, Z, and lifted in at least as many dimensions as those in which the objects 101, 102 move in relating to each other during said transfer. Corresponding grille Above the number of rudder dimensions that the robot can move the connecting member 114 in.
    Figures 2a, from above, and 2b, from the side, illustrate an exemplary embodiment of the invention in which one of the two objects is fixedly arranged, and comprising a robot 210, while the other object 202 is movable in relating to the first object. In the example in question, one 201 of the objects is permanently installed on a quay 203, and another of the objects 202 is permanently installed on a boat 204 or a vessel floating on a water surface adjacent to the quay. It is preferred that the connection established in accordance with the above is a connection for supplying between the objects 201, 202 electrical energy, fresh or waste water and / or / or powdered, gaseous or liquid antiquities such as methane gas and food. For example, electrical energy can be supplied to the boat 204 via an electrical connection and electrical cables; fresh water can be delivered to the bath 204 via a pressurized water connection and water pipes; wastewater can be removed from the bath 204 via a connection which includes an opening into which a sewage hose is inserted and sucks out wastewater from the bath 204; or supplies can be delivered to the boat 204 via a corresponding connection, although the hose which is inserted into the opening is arranged to insert such supplies into the boat 204.
    The first object 201 can also be permanently mounted on a floating bridge, or alternatively a service boat. In these cases, both objects 201, 202 are movable in relation to each other and to the fixed coordinate system (X, Y, Z). In all these cases, the connection can be established despite, and while, the objects 201, 202 move in relation to each other, which facilitates and streamlines deliveries of the above types at quays and in ports.
    The connecting means 214 and 254, as well as the control means 220 and the sensing means 230, are similar to the above-described parts 114, 254, 120 and 130, as well as the fixed coordinate system (X, Y, Z).
    Allsolulingstodx10cx 2014-02-21130045EN 12 For example, when the device 200 Or is installed for use at a quay, but Even in other embodiments when the position of the second object can shift Over a relatively wide area in relation to the first object at the time of a desired connection between It is preferred that at least one of the robots be fixedly mounted on a coarse adjusting device by means of which the robot 210 and / or the first connecting member 214 is displaceable in at least one direction, preferably at least two directions, in relation to the first object 201. The control means 220 is arranged to control the position of the coarse adjuster in relation to the second object 202, and also to control the movements of the robot 210, in relation to the coarse adjuster, so as to fine-tune the position of the first connector 214 in relation to the second connector. 254.
    Such a coarse adjustment device enables the device 200 to be quickly adapted to the general position for establishing the connection, and then to establish the connection with high efficiency and precision when the coarse adjustment is completed. It is also preferred that the fine adjustment using the robot 210 be drilled before the coarse adjustment is completed, so that the fine adjustment can be completed with sufficient precision only shortly after the coarse adjustment is completed. This is preferably done by the controller 220 using existing information regarding the intended end position of the coarse adjustment device for the coarse adjustment as a starting point for a harmless calculation in advance of the movements packaged by the fine adjustment.
    The coarse adjusting device preferably comprises a linear path 215a along which a sled 215b carrying the robot Allsolulingstodx10cx 2014-02-21130045SE 13 210 can be driven, by means of electric motors and by equipping the control means 220, in Figures 2a and 2b along the Y direction.
    According to a particularly preferred embodiment, which is also illustrated by way of example in Figures 2a and 2b, the first object 201 is permanently installed next to a boat or ship lock, where the water surface is movable in height (Z-joint). In this case, the fixedly installed / 0 object 201 further comprises a height adjusting means, on which the robot 210 is mounted. The height adjusting means preferably comprises a platform 215f, supported by an electrically driven elevator device 215e and controllable by the control means 220, which in turn is supported by said coarse adjusting device slide 215b. The platform 215f then carried the robot 210 itself, which in turn is used for the said fine adjustment.
    In the illustrated example, the coarse adjusting device further comprises a slide 215d, which rests on the slide 215b and is supported by an electrically driven line displacement device 215c through which the slide 215d can be linearly displaced in relation to the slide 215b in the X-direction, by controlling the control means 220.
    In other words, the robot 210 itself is displaceable in three perpendicular, or substantially perpendicular, directions, in the illustrated example the X, Y, and Z directions. It is also possible for the lanes 215a, 215c and the elevator 215e to follow the respective curvilinear paths, depending on the geometric conditions at the quay 203 or the place where the connection is to be established.
    It is further preferred, in the said example with a lock, that the control means 220 is arranged to continuously guide the position of the robot 210 in height (Z-direction), by controlling said height adjustment means, to correspond to the current height of the water surface. This equipment preferably takes place during the above-mentioned coarse adjustment phase.
    It is especially preferred that the control means 220 is arranged to, in a first step, guide the height adjustment means to a position in height corresponding to the current height of the water surface, and in a second step to guide out the height adjustment absorber to maintain the equipped height position, regardless of seen the possible spiky height change of the water surface, while the connection is being established and upright. This may mean, for example, that a vessel arrives at the robot 210, which is roughly adjusted to the steering position in the Y-direction, to correspond to a current straight for the connecting member 254, and the Z-direction, depending on the current height of the water surface. While the connection is being made, and even then, the water surface is raised or lowered due to the normal operation of the lock, the robot 210 Z-layer being continuously coarsely adjusted to substantially correspond to the water surface ldge in the habit of individual moment. This means that the connection can be established and maintained regardless of the lock's current operating status, which provides a better opportunity for planning and efficiency for maintenance and service of pieces and vessels that pass and are sip at the lock.
    In Figures 2a and 2b, the local radius of action 216a of the robot 210 is illustrated in the current, roughly adjusted, position of the robot 210. In addition, the global radius of action 216b of the robot 210 is illustrated when considering the possibility of coarse adjustment of the robot 210. It is noted that the coarse adjusting device increases the total radius of action of the robot 210.
    Allsolulingstodx10cx 2014-02-21130045EN In Figures 2a and 2b, the object 202 is, as stated, permanently installed on a boat 204, which piece 204 can be seen as a vehicle that is movable on a surface (the water surface). In this case, the surface is mobile, as the height of the water surface varies with vigors, tides, locking activity and so on. Another situation exists on land, where the ground forms a solid surface, and where the vehicle is a land-based vehicle, such as a car, a bus, a truck, a trailer or the like.
    When one of the objects is permanently installed on such a vehicle, it is preferred that the other object be a permanently installed station in order, through the connection established between the objects, to supply electricity, fresh or waste water and / or supplies, between the objects tively collect and remove exhaust fumes from an exhaust system outlet has the vehicle in question. The latter Or can be used, for example, in parking garages, workshops and the like, where a connecting means in the form of the exhaust pipe has a vehicle which arrives can be connected automatically, with the aid of a robot, to a corresponding connecting means in the form of an exhaust socket for extracting exhaust gases the exhaust pipe for handling. In this case, the robot, which controls the position of the extraction sleeve in relation to the position of the exhaust pipe, can for instance be arranged suspended in a coarse adjusting device comprising a line displacement path which runs in the roof along a lane in said garage or workshop.
    As mentioned above, in alternative embodiments, the two objects may both be installed on respective vessels, such as floating jetties, boats or vessels, floating on a common water surface. As an alternative to this, one of the objects can be permanently installed on the ground or on a building while the other object is installed on a flying vehicle, or both objects can be installed on a respective flying vehicle 16 Allsolulingstodx10cx 2014-02-21130045EN 16 flying vehicles. When establishing the connection, in these cases the said flying vessels are in a flying state, and are thus above ground, and the connection is a connection for supplying electricity, fresh or wastewater and / or supplies between the objects. According to a particularly preferred embodiment, one object is an electrically powered flying vehicle, such as a so-called drone, for example a pilotless helicopter, whose boat is charged with electric current delivered via the connection from a charging station which is -to installed on the ground, on a building or on a flying charging station carrying vessel. For example, such drones can be used to spread water in fire fighting or various pesticides, goods and so on in agriculture.
    Figures 3a-3c illustrate a particularly preferred embodiment, according to which the objects 301, 302 can occupy a parked layer (figure 3c) in relation to each other, in which the objects are arranged at such a close distance from each other that the robot can maintain the connection, and where the objects The oven can occupy another, separate layer (figure 3a), in which the objects are at a distance from each other, preferably at such a distance that it is not possible to establish the connection because the connecting means of the arriving object is outside the rack hall for the connecting means of the robot. It is preferred that at least one of the objects in the parked location moves around a respective equilibrium point or center of motion in relation to the other object, and that such equilibrium points or centers of motion be immobile in relation to each other or to the position of the other object in the parked the team. Examples of balance points or rudder centers When a ship moored with ropes moves in its limited range of motion next to the immobile quay; when a helicopter hovers above a charging station anchored on the ground; and when two bata Or fOrtojda at each other and Allsolulingstodx10cx 2014-02-21130045SE 17 rar mom the limited relative range of motion allowed by the mooring.
    In a first example of such a configuration, the sip provides a service boat, with a robot for connection according to the invention, and moors the sip at a vessel comprising a permanently mounted connection means for the supply of fresh water. In this case, the parked lodge consists of when the service boat is stably moored at the ship, but where both the service boat and the vessel are moving around each other's center of movement, respectively, the centers of motion are immobile in relation to each other. The separated position consists of the service boat not yet approaching the ship at night, but being at a distance from it.
    In a second such example, a car arrives at a workshop, and is connected to an exhaust collecting connection means mounted on a robot as above, the car being parked stationary above a work pit after entering the workshop. The parked team is thus ridden when the car is immobile Over the above-mentioned work pit, whereby both objects are thus immobile in relation to each other, and the separated team consists of the car not yet coming to a standstill Over the work-pit, but being sip at a distance therefrom.
    The third example Or when a boat or a ship arrives at a quay where it is to be moored or stationary in another way, and where a connection is established between the boat or the ship and a permanently installed device on said quay. In this case, the parked layer consists of the boat or ship lying still next to the quay, whereby the boat or ship is swirled around a rudder center that is unmovable in relation to the permanently installed robot on the quay. The separated lodge finally consists of the boat or ship being at a distance from this parked lodge.
    Figures 3a-3c illustrate a device 300 according to the said third example, in which an electric vehicle body 304 on which an object 302 according to the invention is fixedly mounted. The object comprises a connecting means 354 arranged to supply electric current via the connecting means 354 to a batten arranged to supply the propulsion means of the vehicle with energy for the propulsion. The object further comprises a wireless communication means 371 for wireless communication with a corresponding wireless communication means 321 arranged next to the quay 303 and as part of the second object 301. The communication means 371, 321 are conventional in themselves, and may for instance be a Bluetooth connection; means which in themselves are not primarily intended for reciprocal communication but rather for identification, such as an RFID connection or the like; an acoustic connection, or a wireless internet connection. 380 indicates a wireless network or a wireless communication device through which communication can take place, such as the Internet.
    The object 301 further comprises a permanently installed robot 310, a scanning means 330 and a control means 320; and the berth 303 comprises a resilient shock absorber 305 or the like, against which the ferry is pressed to lie still in the parked bed. The directions X and Y are the same as in the other figures.
    The objects 301, 302 are thus arranged to be brought together from said separated lodge to the said parked lodge. The control means 320 is further arranged to guide the robot 310 so that said connection is established while the objects 301, 302 move from the separated ledge towards the parked ledge, and before they reach the parked ledge.
    Figure 3a illustrates such a separated lodge, in which the front 304, which is for instance on the way towards the quay 305 for relaxing and picking up new vehicles for transport over a watercourse, is located so that the connecting means 354 Or except the rack 310 of the robot 310 comes into contact with the connection means 314. Figure 3b illustrates the situation at the time of the establishment of the connection. The ferry 304, and clamed above the object 302, is not yet at its parked location next to the quay 303, where vehicles can be relaxed and relaxed, but is in such a position that the connecting means 314 is just close to the connecting means 354, so that connection Or moj- hg, when the robot 310 is equipped for an outer layer.
    By thus utilizing the freedom of movement of the robot 310 in combination with the scanning of the sensing means 330 and the logic of the control means 320, an electrical connection can thus be achieved earlier than would have been possible with conventional technology. This difference is in many cases significant. When operating an electric vehicle, for example, the speed of the last meters before the ferry arrives at the quay can take tens of seconds, while the total charging time ashore can move cm less than 10 minutes. The additional charging time achieved according to the invention thus constitutes a significant proportion of the total charging time.
    Correspondingly, it is further preferred that the control means 320 is arranged to control the robot 310 so that the connection is broken while the objects 301, 302 move away from the parked layer and, after the objects 301, 302 have left the parked layer, to a second separated layer, which second separated layer is similar to that described above and used in objects 301, 302 Atter are at a distance from each other.
    This can be done in several different ways, as illustrated in Figures 4a-4d, all of which, with common reference numerals, illustrate an arm or segment 412 of a robot 410 pA Allsolulingstodx10cx 2014-02-21130045SE an object 401, which robot 410 controls the outlet of a connection means 414 arranged to, together with a connection means 454, arranged on another object 402 which is in relation to the first object 401, even after the connection has been established, establish the temporary connection. The connecting means 414 is held by a holding part 416 of the robot 410, and the connecting means 454 is held by a holding part 456 of the object 450. In Figure 4a the case is illustrated that, after the connection has been made, the connecting means 414 is held by the connecting means 454 by means of a locally arranged fastening means 454a, which, for example, depending on the type of connection, can be constituted by cooperating winding means or magnetors on the respective means 414, 454. In this case, the control means (not shown) will not actively control the movements of the robot 410, without the movements R2 of the connecting member 414 will passively follow the movements R1 of the connecting member 454. When the connection is to be broken, the object 401 and / or the object 402 cause the engagement to have the fastening means 454a to slip, whereby the connecting means 414 can be led out of the connection and away from the connecting means 454. For many types of connections this is a simple and therefore preferred way.
    According to an alternative embodiment, the control means is arranged to actively and continuously control the movements of the robot 410 so that the part 416 of the robot 410 which is arranged to maneuver or hold the connecting means 414 there is still in relation to the connecting means 454.
    A first example of this is illustrated in Figure 4b, in which the control means is arranged to actively and continuously guide the robot 410 so that the connection means 414 while the connection is maintained are still in relation to the connection means 454. With in other words, the body's 414 movements R2 will actively follow the body's 454 movements R1. When the connection is to be broken, the control means can cause the part 416 to simply slide the connection means 414 away from the connection means 454. In this case no fastening means is required, although it is possible to combine the embodiments according to Figure 4a and Figure 4b. It is preferred that the robot maintain a certain pressure between the connecting means 414, 454.
    A second example of this is illustrated in Figure 4c, where the part 416 is arranged to relax the connection means 414 after the connection has been established, and that the control means then actively and continuously controls the movements of the robot 410 so that the movements 4 of the part 416 follow the connection means 454 movements R1 at a relatively close distance, such as a maximum of 0.2 meters. The connection itself is secured by a connection cable 414a or the like, which runs from the connection means 414 and to the object 401 and through which electricity, fresh water or the like can be led. When the connection is to be broken, the control means can control the position of the part 416 in relation to the means 454 so that the part 416 can again engage in the means 414 and then lead the latter out of the connection and away from the means 454. It is then possible to break the connection at short notice and pd in a controlled manner in that the part 416 can be kept close at all times, and synchronously synchronized with, the means 414.
    Thus, in this case, the robot 410 is arranged to, after the connection has been established, release from the connecting member 414 so that the connecting member 414 thereafter, not to mention active equipment, is freely movable within at least a limited area or volume relative to the robot 410.
    Allsolulingstodx10cx 2014-02-21130045EN 22 Another embodiment which also involves such freedom is illustrated in figure 4d, in which the control member does not actively control the position of the part 416 or the member 414, but the movements R14 of the member 454 are allowed to be independent, or at least independent mom a certain limited volume, of the robot's 410 movements. Instead, the part 416 has dropped the member 414, in a manner corresponding to that described above in connection with Figure 4c, and a flexible fastener 414b, typically included in the robot 410, connects the robot 410 to the connection member 414. The connection is cut, as in Figure 4c, by means of a cable 414a or the like. When the connection is to be broken, this is then done by the fastener 414b being arranged by traction to break the connection when the connected objects 401, 402 move away from each other, by stretching during such movement and then pulling the members 414, 454 apart. It is preferred that a collecting means, for example comprising a coil 414c, is arranged to trap the means 414 and return it to a suitable engagement with the part 416 in order to be able to establish a next connection. As illustrated in Figure 4e, it is above preferred that the control means Or be arranged to, prior to the breaking of the connection, guide the robot 410 to maneuver the connection means 414 to a clear angle A between the extended feed means 414b and an ice pulling direction of the connection means 414. the engagement with the connecting means 454 at the time of said breaking falls within a predetermined interval with which damage is not risked to any extent by the connecting means 414, 454 as a result of said pulling force and traction.
    Figures 4g and 4f show, in sequence, a further preferred alternative, according to which the control means first (figure 4f) is arranged to move the means 416 to a lodge near the object 450, and mom rdckhall for a capture or Allsolulingstodx10cx 2014-02-21130045SE 23 receiving means 457 has the object 450, which means 457 is arranged to engage in the connecting means 414 and lead it up to and into engagement with the connecting means 454. In this case the first means 414 is detached from the means 416, by the means 416 or the means 457. Then checks Fourth, the guide means actively the movements R2 of the member 414 said that the member 414 is held still in relation to the member 457. Alternatively, a guide member has the object 450 out a gripping device 457a has the member 457 so that it is moved up and into engagement with the member 414, which suedes an equipped rudder has the gripping device 457a relative to the object 450.
    Thereafter (Figure 4g), the means 457 moves the first connection means 414 up and into engagement with the second connection 454, so that the connection is thereby established. When the connection is to be broken, this can be done in any of the ways described above.
    In this embodiment it is thus the first robot 1 which controls and / or leaves the connecting means 114 to the second robot 150, see figure 1b. The second robot 150 then connects the connecting means 114, 154. Thus, for example, a customized robot can be installed on a vehicle which itself can handle complicated connection procedures including hatches or the like. In addition, the total working area over which the connection can be maintained can be increased, and the first robot 110 can assist in the handling of cabling / hoses when the distance between the robots 110, 150 is started.
    Figures 1a-1b and 3a-3c illustrate a respective robot 110, 310 which is fixedly mounted on a base, which robot comprises at least two parts, preferably at least three parts, the relative angles of which can be controlled out. An example of an allsolulingstodx10cx 2014-02-21130045EN 24 type ay robot that is unmistakable for this and other types ay applications of the present invention Or that sold under the name IRB 2600 ay ABB.
    Figures 2a-2b illustrate, on the other hand, a robot 210 comprising at least two parts, preferably at least three parts, which are displaceable in relation to each other. Such a robot preferably also comprises, in addition to the displaceable parts, at least one, preferably at least two, i.e. at least three parts whose relative angles can be controlled out. Examples of lamp robots with displaceable parts include the one sold under the name IRB 6620LX.
    In general, it is preferred that the robots described herein be multi-axis and servo-controlled industrial robots, preferably of the standard type.
    These exemplary robots can also be used to advantage in modified form, such as an IRB 2600 mounted on a pair of traverses and an elevator, as illustrated in Figures 2a-2b, or an IRB 6620LX with extended armrests and supplemented with several different grippers and tools. for different types of connectors.
    In general, it is preferable to use line traverses similar to the device 215e when larger vessels berth the quay with the long side facing the quay, while robots mounted on the quay can be used to advantage when smaller boats dock with the bow or stern towards the quay.
    Figures 5a-c illustrate, by way of example, another preferred embodiment, in which an electrically driven bus 504, on which an object 502 of the type Or described above is permanently installed, passes in line traffic another object of the Allsolulingstodx10cx 2014-02-21130045SE above described type in the form of a hallway 501 equipped with a charging station for a bat arranged in the bus 504. The hall space 501 Or is further equipped with two cooperating robots 510 and 510 ', which in themselves, and also their respective position along the respective slide rails 515a, 515b, are equipped by a guide means (not shown) similar to the guide means described above. The robots 510, 510 'are equipped with respective parts 516, 516' for engaging and supporting a connector 514 for connecting an electrical cable 514d to a connector 554 on the bus for transmitting electrical energy to the bus 504 while in the bus 504 is located at or near the hall site 501. The cable 514d is held stretched by means of a conventional stretching member 514e per se.
    A device 500 such as that illustrated in Figures 5a-5b comprises at least two movable robots 510, 511 ', both of which according to a preferred embodiment are arranged to cooperate with each other, so that one of them is arranged to establish the said connection and then disengage from the connector 514, while another of them is arranged to later break the connector, preferably by again grasping the connector 514 and forcing it away from the member 554.
    Thus, when the connecting means 554 of the object 502 reaches the connecting means 514, in a manner corresponding to that described above, to the connecting means 554, the racking means for the robot 510 (Figure 5a) arrives at the connection means 554 and establishes the connection, whereby the charge is drilled. The connection is preferably made, as above, before the bus 504, and thus the object 502, has finally arrived at a parked location next to the hallway 501, so that the bus is on the way Allsolulingstodx10cx 2014-02-21130045SE 26 to turn into the hallway but is mom rOckhall for the robot 510.
    Thereafter, the robot 510 releases the engagement with the connector 514, which is then supported by engagement with the connector 554 as the bus moves forward toward a parked lodge (Figure 5b) adjacent the hallway 501. Meanwhile, the boat 504 is loaded via the cable 514d. When the bus 504 is about to leave the hallway 501 (Figure Sc), the robot 510 'advances the portion 516' to the connecting member 514 and engages therein, and breaks the engagement between the member 514 and the member 554 and removes the member 514 from the member 554. This occurs preferably after the bus / 504, and thus the object 502, has left its parked position at the bus hall 501 and is on its way out of the hall 501, but while the connecting means 554 is still within the rack for the robot 510 '.
    The robot 510 'can then, for example, change places with the robot 510, by sliding the robots 510, 510' along the rails 515a, 515b, after which the robot 510 'is ready to establish a connection with an adjacent bus in which the bat is to be charged.
    It is understood that a similar system 500 Oven can be installed at, for example, a red light at a traffic intersection, so that electric vehicles can be connected and charged while they arrive, wait for green light and start driving again. By means of the invention, vehicles in this type of situation can thus be provided with a maximum charging time during the above shorter stop.
    A single of the robots 510, 510 'can, as an alternative, establish the connection in a first layer along the rails 515a, 515b, then follow with the connecting means 554, ateri- Allsolulingstodx10cx 2014-02-21130045SE 27 gen along the rails 515a, 515b , when the bus 504 dices forward along the hallway 501, and then breaks the connection in another layer along the rails 515a, 515b. This also means that the connection can be maintained for a maximum length of time.
    Instead of the rails 515a, 515b, for example, a traverse or a cableway system can be used.
    Another exemplary embodiment in which a vehicle moving on the ground on wheels must be connected to an object similarly present on the ground is that the first object consists of a so-called terminal tractor or other towing vehicle, and the second object consists of a trailer or the like. Terminal tractors are used to quickly and efficiently move trailers in ports, terminals, transhipment depots and so on. In this case, there is a robot permanently mounted on such a terminal tractor, and arranged to, in a manner similar to that described above, connect and possibly also unload the terminal tractor to or from a trailer to be moved. This thus includes handling connection means and hoses for the compressed air brake system, as well as connection means and cabling for electrical systems such as brake systems, brake lights, taillights, turn signals, etc. With the help of such a system the connection of the terminal truck to trailers can be done quickly and with high safety. In connection with connection, a system such as this can be arranged to, via the said connection, automatically check the equipment, as well as the condition of the braking system.
    When the driver thus drives / reverses the terminal tractor to the trailer, the said robot is arranged to automatically locate connecting means on the trailer, and then to automatically connect hoses, cabling and so on to such connecting means even before the tractor and the trailer are connected. Allsolulingstodx10cx 2014-02-21130045EN 28 laid via the so-called "fifth wheel", it viii saga the clutch or clutch disc used to connect towing vehicles and trailers.
    According to a preferred embodiment, the scanning means described above further comprises a camera, which in cooperation with image processing software is arranged to be able to recognize the type of connecting means to which the connecting means of the robot is to belong, including which type is identified by a number of possible types for which identifying information is stored, for example, in a database in the scanning means. The identification of the said type then takes place by the identification of visual pitches, as the form has the connecting means in question or predetermined visual marks, such as two-dimensional monsters, alphanumeric characters and so on.
    In this case, it is preferred that the device comprises a selection means, which is arranged to, based on the identified connection type, have the connection means in question, select one of several possible connection means and use this as the connection means carried by the robot to the identified connection means. establish said connection.
    Thus, in this case, the object to which the robot is to connect comprises a set of at least two different connecting means, preferably of standard type, and the robot comprises one or more gripping means arranged to locate and engage in an optional one of said several connecting means.
    This is clearly illustrated in Figure 1a, where three different alternative types of connecting means 114 ', in addition to the connecting means 114, are provided with rack racks for the robot 110, so that the robot 110 can pick up a connecting means 114, 114. which is of a type corresponding to the connecting means 154, depending on which type the latter has as identified by the sensing means 130. It is preferred that the robot also comprises a visual sensing means near the connecting means 114, which follows the movements of the connecting means 114 and thus can to a lower connector 154 to facilitate said identification of the type of connector 154.
    Figure 6 illustrates a further preferred embodiment, where a robot 610 comprises a segment 612, a connecting member holding part 616 and a connecting member 614, while a calling object 602 comprises a connecting member holding part 656 and a connecting member 654. In addition to the connecting member 614, the robot 610 in this case an actuating means 617, arranged to activate the connecting means 654, for example by means of a suction cup 617a opening a hatch 657 which tackles the connecting means 654. The control means is arranged to guide the robot 610 to activate the connecting means 654 in a first step by means of the activating means 617 , and in a second step establishing the connection between the means 614, 654. When the connection is then broken, it is preferred that the activating means 617 deactivates the connecting means 657 again, such that the activating means 617 hails up the door 657 while the connection is maintained, and then closes the door 657 or later de n stangas.
    Such actuating means 617 can be designed in many different ways, depending on the type or different types of connecting means 654 to be handled by the system according to the invention. It can move around a lid that is unscrewed, unlocked, Allsolulingstodx10cx 2014-02-21130045SE or Opened or accessed in another way, such as with a push button or with the help of digitally given instructions over a communication thought, such as the thought 380.
    According to a particularly preferred embodiment, the device according to the invention is arranged to establish the connection described above only if an amplitude and / or frequency has the relative motions of the objects in relation to each other for a certain period of time falls within an acceptable, defined or interval. In other words, the control means 120 is arranged to control the robot 110 to establish the connection until the objects 101, 102 are sufficiently still in relation to each other for a sufficiently long continuous time.
    The control means 120 is at the same time arranged to, even before this condition is fulfilled, actively and continuously control the movements of the robot 110 so that the connecting means 114 is still or substantially still in relation to the connecting means 154. This leads to an effective de-icing between on the one hand the desired goal for a long total connection time, and on the other hand the requirement for security at connections that must be established, for example at hard winds at sea, so that a minimum level of security can be guaranteed. It is further preferred that the control means 120 is arranged to interrupt the connection in advance if the amplitude and / or frequency of the relative movements of the objects 101, 102 exceeds predetermined respective values while the connection is being maintained, or if the objects 101, 102 for some reason slide longer then a predetermined distance, or that the connecting means 154 falls outside a certain predetermined safety zone around the object 101, or according to special instructions given to the device 100 manually by operating personnel.
    It is further preferred that information concerning the approaching object 102, such as total weight, current course, acceleration and the like be available to the controller 120, for example via a communication link such as link 380, and that the controller use such data to precaution calculate a convenient occasion father establishing the connection with maintained security. / 0 In this case, the system takes into account the movements measured by the object 130, and for example its calculated inertia, as well as the precision and flexibility of the robot in different parts of its working area. Such calculations can be made, for example, by the fact that the connection is not established when the / 5 approaching object 102 moves too fast when the robot is working in a position where the probability of impacts or greater On a certain spruce value which depends on the said speed.
    The parameters that can be taken into account when assessing possible connection cases will typically vary depending on a number of factors. For example, relatively greater safety, in terms of speed or positional uncertainty, may be required for connection if several operations are to be performed simultaneously or in sequence, such as opening a gap and then connecting the connecting means. In addition, information regarding the current weather conditions, such as vigor, wind, hay drums, snowfall, ice or icing, can be fed to the control member, and then used to temporarily increase the required safety in the event of risky weather conditions.
    Furthermore, it is preferred that the device 100 comprises a database comprising data concerning different types of movable objects 102 which can be handled, and that the scanning means 130 comprises an identification means, which in turn is arranged to automatically identify movable objects 102 of the types which identify information in the database and which approach the object 101. Examples include optical reading of a number plate on a vehicle, an identified QR code on a ferry or a public transport vehicle, or non-optical remote reading of identifying information such as IMO numbers, via AIS, RFID or other appropriate technology, as described above. The scanning means 130 is in this case arranged to determine the general position of such type-identified objects 102 after said type identification has been performed. Thereafter, the scanning means 130, with the aid of said data from the database, is arranged to determine the position of the connecting means 154 in relation to the general position of the object 102. in this way, several different predefined types of objects 102 can be accepted by the device 100, which may, for example, be useful for different types of boats and ships in locks and quays; for charging various types of electric, vagrant vehicles; and for handling several different types of connections on the same or different objects 102.
    The database may advantageously also contain specific data concerning the vessel to be connected, such as safety regulations and zones, filling / emptying capacities, and so on as grids for the vessel in question, and which affect how, if, when and in what order different connections are made by the device. 100.
    According to a further preferred embodiment, illustrated in Figure 3a, the device 300 further comprises a data communication link 380 between the objects 301, 302, as well as an identification means included in the sensing means 130, arranged to automatically identify and position movable objects 102 of the types to be thanked. of the database which approaches the object 101, and which is similar to the identification means described above. In this example, however, the sensing means 130 is arranged to receive data concerning the position of the connecting means 354, and preferably also indicating the type of the connecting means 354, via the data communication link 380. Thereafter, the sensing means is arranged to first sense the general position of the object 102, as described above, and then the position of the connector 354 in relation to the general position of the object 302, based on said data received, via the data communication link 380, from the object 302 to the object 301. Alternatively, this data may be received from a central server.
    Figure 7 illustrates a method according to the invention for effecting a temporary connection between two objects moving in relation to each other, such as those described above. The method uses a system 100 of the type described above. Both objects comprise a respective connection means, and the temporary connection is established and with the two connection means being brought together and connected to each other. As described above, a control means continuously controls the movements of a movable robot, so that a first of the connecting means is thereby moved in relation to the corresponding object, and a sensing means continuously reads a relative layer between said object or said connecting means and the second connecting means, the objects move in relation to each other.
    In a first step, the device is activated, which means that the sensing device is continued in a layer in which an adjacent object is to be identified. The activation can, for example, be initiated by the existence of the calling object being identified by means of radar technology, by visual identification; via radio link, as well as via AIS (Automatic Identification AnsolmingstextdocxM14-02-21130045SE 34 System); by so-called long range RFID, laser or ultrasound; via the crew on the approaching object via communication link; at certain times; or otherwise.
    In a second step, the calling object is identified, which may include the identification of the type, number and relative position of connecting means; any activating means required; and requested services for which connections are to be established.
    In a third step, the robot is prepared. This may include the type selection of one or more connecting means; one or more cabling and / or hose systems for connection; one or more activating means to be used; as well as planning and possibly also performing rough adjustment of the robot's position.
    In a fourth step, the connecting means or means of the approaching object are located, with the aid of local detection as well as via visual identification. This location then continues continuously at least until the connection has been established, and the sensing position is used in the subsequent equipment.
    In a fifth step, the control means then continuously controls the position of the connecting member of the robot, while the objects move in relation to each other, so that it moves, in relation to the object on which the robot is installed and up to the connecting means of the approaching object.
    In a sixth step, the temporary connection is established, by connecting the connecting means to each other.
    Allsolulingstodx10cx 2014-02-21130045EN In a seventh step, which was preferred to be started substantially immediately after the sixth step, and hoist before the objects have the above-described parked lodge, Overfors a medium, such as feed water, electric current or the like, between the objects. It is preferred that the sensing means, during ongoing transmission, visually inspect for malfunction, such as leaks, and interrupt transmission when such malfunctions are detected. It is preferred that the transmission always ends before the connection is broken. When transferred, the transmission can be stopped late, such as a maximum of 0.1 seconds, preferably a maximum of 0.01 seconds, before starting the disconnection. If liquids, powdered substances or gases are transferred, there is a pressure in the hoses and inertia in the transferred medium and in the device itself (as in pumps), so the transfer needs to be completed at least 1 second, preferably at least seconds, but preferably no more. On 10 seconds, before breaking the connection.
    In an eighth step, after the transfer is completed, the connection is then broken. It is preferred that the object on which the robot is installed determines when the transfer is to be completed, for security reasons.
    In a ninth step, the robot then makes a subsequent connection to another or to the same object.
    It will be appreciated that all of the above described with respect to a device according to the invention is also applicable to a method according to the invention, and vice versa.
    Figure 8 illustrates a preferred system 800 for use in connection between an object 801 permanently installed on the ground 803, including a robot 810, and an object 802 installed on a flying vehicle 804. The robot 810 comprises a connecting member 814 on a flying vehicle 8042 2014-02-21130045SE 36 and the object 802 comprises a corresponding connecting means 854, which function in a corresponding manner as described above for other embodiments.
    According to this embodiment, the flying vessel 804, which is preferably unmanned, further preferably comprises a lifting means 859, such as a rotor, for exerting a lifting force on the vessel 804, which clamed can hover over the ground 803 and the object 801. Furthermore, the connection is a connection / 0 for loading or unloading of material, such as liquid, powdery or granular material, to or from the vessel 804. During such loading or unloading, the weight of the vessel 804 is affected, for which reason its height control device (not shown) must compensate for such change in / The vessel 804 shall not come out of its hovering position while the connection is being maintained. This in turn means that the said control device must be advanced in order to avoid the oscillations which would otherwise have arisen in the event of such weight changes.
    According to this embodiment, an object holding device 818 is included in the object 801, which Or is connected to and controlled by means of the control device of the object 801. A connecting means 818a having the abutment device 818 is arranged to be connected to a corresponding connecting means 858 having the vessel 804. The connecting means 858 may, for example, be in the form of a hook or a hook, and the connecting means 818a may be connected by means of the robot 810 in a similar manner the connection of the member 814. A rope 818b runs between the member 818a and a tensioning device 818c, which Or is arranged to hold the rope 818b tensioned under a certain tensile stress.
    According to a preferred embodiment, first the means 814 are connected, then the means 818a, Oven am it Or possible to make tvar- Allsolulingstodx10cx 2014-02-21130045SE 37 tom. When the means 818a is connected to the means 858, so that the tensioning device 818c, which is firmly anchored to the ground 803, maintains a tension between the vessel 804 and the ground 803, the lifting means 859 can lift the vessel 804 against an abutment in the form of said tensioning force.
    When loading and / or unloading material, the object 801 is then arranged, via control of the clamping device 818c with the aid of the control means of the object 801, to compensate via loading / unloading / unloading due to weight changes, the vehicle 804 has corresponding demands in said clamping force. the force which the lifting means 859 must exert on the vehicle 804 to maintain a certain hoisting height for the vehicle 804 is kept substantially constant even when the weight of the vehicle 804 is changed due to the said loading / unloading. According to another preferred embodiment, the control means of the object 801 senses a weight which is supplied to or removed from the vehicle 804. According to another preferred embodiment, the retention device 818 comprises a tension force sensor, arranged to sense said tension force in the line 818b, to which the power supply is connected. 818c, which in turn is arranged to line the sensed clamping force constantly in the line 818b.
    This means that the aircraft's 804 control function can be made much simpler without the risk of said undesired oscillations occurring, which is especially preferred for unmanned vehicles such as electric drones.
    It is preferred that the safety device receptacle 818 includes a torque weld so that its engagement with the vehicle 804 is released if the tensile force in line 818b exceeds a certain predetermined ground value. The torque is preferably arranged in the connecting member 818a, so that the engagement with the connecting member 858 slips at such high chip forces. It is noted that such an abutment device 818 does not mean that the object 801 is primarily intended to moor the vessel 804, but primarily intended to load / unload said matter while the vessel 804 is offered a resistance against which it can lift.
    A number of exemplary embodiments have been described above. However, it will be apparent to those skilled in the art that many modifications may be made to these embodiments without departing from the spirit of the invention.
    Thus, the principles described in relation to certain embodiments may be applied in the context of many other embodiments, such as that a communication based identification according to Figure 3a may be used in combination with a charging station for electric vehicles according to Figures 5a-5c, or that the various options for connection Sustaining as described in Figures 4a-4e nOr sa Or can be freely combined with various embodiments described herein. In general, where applicable, all of the embodiments described herein may be freely combined.
    The elevator device 215e can also be used to adjust the height of the robot 210 in relation not only to the water surface, but also to various high beams or vessels to be connected.
    The robots described herein may furthermore, in addition to several individually adapted connecting means 114, 114 ', have several different activating means 617 which are individually adapted to activate different types of connecting means 654, which types are then automatically detected by means of the sensing means described above. Such actuating means 617 may also comprise several different cooperating grippers etc., in order to be able to perform parallel or sequential actuating measures, depending on the type of connecting means.
    The communication link 380 can also be used to carry out orders for various services provided with automatic delivery of the object 301, such as filling with fresh water or providing land, as the vessel 302 wishes, prior to calling at the object in question. This Or usable for example in ports and locks.
    In addition to water-floating and ground-rolling vehicles, the principles of the invention can also be applied to objects traveling underwater, such as submarines, and in space, such as space shuttles and satellites.
    Thus, the invention is not to be limited to the embodiments described herein, but may be varied within the scope of the appended claims.
    Allsolulingstodx10cx 2014-02-21130045SE
    权利要求:
    Claims (21)
    [1]
    An apparatus (100; 200; 300; 500; 800) for providing a temporary connection between two adjacent objects (101,102; 201,202; 301,302; 401,402; 501,502; 601,602; 801,802), the first of said objects comprises a first connecting means (114; 214; 314; 414; 514; 614; 814) and the second of said objects comprises a second connecting means (154; 254; 354; 454; 554; 654; 854), where said temp. connection is established in that the two connecting means are brought together and connected to each other, where the device further comprises a movable first robot (110; 210; 310; 410; 510; 610; 810), arranged to continuously move the first connecting means in relation to the first object, and a control means (120; 220; 320), arranged to control the movements of the first robot and thereby said movement of the first connecting means in relation to the first object, the device further comprising a sensing means (130; 230; 330 ) arranged to continuously a a relative gap between the first object or the first connecting means and the second connecting means while said objects move in relation to each other, characterized in that the control means Or arranged that, while said first and other objects move in relation to each other , continuously controlling the first robot so that the first connection means is moved, in relation to the first object and up to the second connection means, and there connects to the second connection means, so that said temporary connection is thereby established.
    [2]
    Device (100; 200; 300; 400; 500; 600; 800) according to claim 1, characterized in that the bath objects (101,102; 201,202; 301,302; 401,402; 501,502; 601,602; 801,802) move in Allsolulingstodx10cx 2014-02 Relative to each other in at least two, preferably three, motion dimensions, and that the control means (120; 220; 320) is arranged to guide the first robot (110; 210; 310; 410; 510; 610; 810) in Atminstone two, preferably three, weird dimensions.
    [3]
    Device (100; 200; 300; 400; 500; 600; 800) according to claim 1 or 2, characterized in that one (101; 201; 301; 401; 501; 601; 801) of the two objects is fixed arranged while the second object (102; 202; 302; 402; 502; 602; 802) is movable in relation to the first object.
    [4]
    Device (200; 300) according to claim 3, characterized in that one (201; 301) of the objects is permanently installed on a quay (203; 303) and another (202; 302) of the objects is permanently installed on a piece or a vessel (204; 304) floating on a water surface adjacent to the quay, and that the connection is a connection for delivering electrical energy, differences in wastewater and / or food between the objects.
    [5]
    Device (200; 300) according to claim 4, characterized in that the permanently installed object (201; 301) is permanently installed next to a bit or vessel lock where the water surface is movable in height, and in that the permanently installed object comprises a height adjusting means on which the first robot (210; 310) is mounted, and in that the control means (220; 320) is arranged to continuously control the position of the first robot in height, by controlling the height adjusting means, to correspond to the current height for vat- tenytan.
    [6]
    Device (100; 200; 300; 400; 500; 600; 800) according to claim 3, characterized in that one (102; 202; 302; 402; 502; 602; 802) of the objects is installed in a vessel (204 ; 304; 504; 804) which is movable on a substrate, in that an AnsolmingstextdocxM14-02-21130045EN 42 other (101; 201; 301; 401; 501; 601; 801) of the objects is a fixed station to named connection, between the objects supply electricity, research or wastewater and / or supplies, alternatively collect and remove exhaust gases from an exhaust system outlet of the vessel.
    [7]
    Device (100) according to claim 1 or 2, characterized in that the objects (101, 102) are arranged arranged in relation to a fixed coordinate system (X, Y, Z) as well as / to each other.
    [8]
    Device (100; 200; 300; 400; 500; 600; 800) according to any one of the preceding claims, characterized in that the objects (101,102; 201,202; 301,302; 401,402; 501,502; 601,602; 801,802) Or / 5 are arranged to be brought together from a first separated layer, where the objects are at a distance from each other, to a parked layer, where the objects Or are arranged at such a close distance that the first robot (110; 210; 310; 410; 510; 610; 810) is near to achieve the said connection, and where the respective equilibrium points or centers of motion around which the objects may move are immobile in relation to each other, and in that the control means (120; 220; 320) is arranged to guide the first robot so that the connection is established while the objects moves from the first separated layer towards the parked layer and before the objects reach the parked layer.
    [9]
    Device (100; 200; 300; 400; 500; 600; 800) according to claim 8, characterized in that the control means (120; 220; 320) is arranged to control the first robot (110; 210; 310; 410 ; 510; 610; 810) so that the connection is broken while the objects (101,102; 201,202; 301,302; 401,402; 501,502; 601,602; 801,802) move from the parked layer to a second separated layer, where the objects are again on Allsolulingstodx10cx 2014-02-21130045EN 43 stand apart, and after the objects have left the parked team.
    [10]
    Device (400) according to any one of the preceding claims, characterized in that the two objects (401,402) are movable in relation to each other even after the connection has been established, and in that the control means is arranged to actively and continuously control it the first robot (410) so that a portion of the first robot arranged to maneuver or hollow the first connector (414) is stationary relative to the second connector (454).
    [11]
    Device (400) according to claim 10, characterized in that the control means is arranged to actively and continuously / control the first robot (410) such that the first connecting means (414) is stationary in relation to the second connecting means (454). .
    [12]
    Device (400) according to any one of the preceding claims, characterized in that the first robot (410) is arranged to, after the connection has been established, release from the first connecting means (414) so that the first connecting means is thereafter free moving mom at least a limited area or volume in relation to the first robot.
    [13]
    Device (400) according to claim 12, characterized in that the device comprises at least one further movable robot (450), wherein the first robot (410) and the further robot are arranged to cooperate, so that one of them is arranged to establish the connection. and then disengaging from the first connection means (414), while another of them is arranged to break the connection. Allsolulingstodx10cx 2014-02-21130045SE 44
    [14]
    Device (400) according to claim 12, characterized in that a flexible fastening means (414b) is arranged to connect the first robot (410) to the first connecting means (414), in that the fixed means is arranged to break the connection by traction when the connected the objects move away from each other, and by the control means Or arranged to, before said break of the connection, steer the first robot to maneuver the first connection means to a lower angle (A) between the fixed means and the second connection means (454) at the time of said breakage, a predetermined interval falls at VAT, which does not risk any damage to the connecting means as a result of said traction.
    [15]
    Device (100) according to any one of the preceding claims, characterized in that the first object (101) comprises an array of at least two different connecting means (114 ') of standard type, in that the first robot (110) comprises gripping means arranged to locating and engaging in a selectable one of said connecting means, and in that the device comprises a selecting means which Or is arranged to, based on a connection type, have the second connecting means (154), select one of said connecting means and use it as the first connecting means.
    [16]
    Device (100) according to any one of the preceding claims, characterized in that the device further comprises a second movable robot (150), arranged to move the second connecting member (154) in relation to the second object (102), a second sensing means (170) arranged to continuously unload a relative space between the second object or the second connecting means and the first connecting means (114) while the objects (101, 102) move in relation to each other, and a second control means (160) , Allsolulingstodx10cx 2014-02-21130045SE arranged to control the movements of the second robot and clamed ndmnda movement of the second connecting member in relation to the first connecting member.
    [17]
    Device (200; 300; 500) according to any one of the preceding claims, characterized in that the water detonating robot (210; 310; 510) is fixedly mounted on a coarse adjusting device by means of which the first connecting member (214; 314; 514) is displaceable in the at least a direction in relation to the first object (201; 301; 501), in that the control means (220; 320) is arranged to control the position of the coarse adjusting device in relation to the second object (202; 302; 502) and in that the control means the dven is arranged to control the movements of the first robot to fine-tune the position of the first connecting member in relation to the second connecting member (254; 354; 454).
    [18]
    Device (600) according to the preceding claim, characterized in that the first robot (610) comprises, in addition to the first connecting means (614), an activating means (617) arranged to activate the second connecting means (654), such as opening a hatch (657) thanking the second connection means, and in that the control means is arranged to guide the first robot to activate the second connection means in a first step by means of the actuating means and to in a second step established the connection.
    [19]
    Device (100; 200; 300; 400; 500; 600; 800) according to any one of the preceding claims, characterized in that the device is arranged to establish the connection only in the case of an amplitude and / or frequency of the objects (101,102; 201,202; 301,302; 401,402; 501,502; 601,602; 801,802) relative motions in relation to each other during a certain period of time fall within an acceptable respective interval, and that control means (120; 220; 320) are arranged to, 120; 220; 320). before this is accomplished, actively and continuously control the first robot (110; 210; 310; 410; 510; 610; 810) so that the first connector (114; 214; 314; 414; 514; 614; 814) is stationary in relative to the second connector (154; 254; 354; 454; 554; 654; 854).
    [20]
    Device (800) according to any one of the preceding claims, characterized in that the first object (801) is fixedly mounted on the ground (803), in that the second object (802) is mounted on a flying vehicle (804), in that an anti-roll device (818) is arranged to be attached to the vehicle and to apply a clamping force between the vehicle and the ground which counteracts a lifting force, the vehicle is held while the connection is upright.
    [21]
    A method of providing a temporary connection between two objects movable relative to each other (101,102; 201,202; 301,302; 401,402; 501,502; 601,602; 801,802), the first of said objects comprising a first connecting means (114; 214; 314; 414; 514; 614; 814) and the second of said objects comprises a second connecting means (154; 254; 354; 454; 554; 654; 854, wherein said temporary connection is established in that the two connecting means are joined together and connected to each other, a control means (120; 220; 320) continuously controlling the movements having a movable first robot (110; 210; 310; 410; 510; 610; 810) so that the first connecting means is thereby moved in relation to the first the object, wherein a sensing means (130; 230; 330) continuously reads a relative space between the first object or the first connecting means and the second connecting means while said object moves in relation to each other, characterized in that, while naming As the first and second objects move in relation to each other, the control means continuously controls the first robot so that the first connecting means is moved, in relation to the first object and up to the second connecting means, and there connects to the second connecting means, so that said temporary connection is thereby established. Allsolulingstodx10cx 2014-02-21130045SE 1/9
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    同族专利:
    公开号 | 公开日
    EP3107802A4|2017-11-15|
    CN106232470A|2016-12-14|
    US20170050526A1|2017-02-23|
    DK3107802T3|2020-10-12|
    CA2939676A1|2015-08-27|
    US10093189B2|2018-10-09|
    SE538470C2|2016-07-12|
    EP3107802B1|2020-07-22|
    SG11201606890PA|2016-09-29|
    EP3107802A1|2016-12-28|
    WO2015126320A1|2015-08-27|
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    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    SE1450210A|SE538470C2|2014-02-21|2014-02-21|Procedure for establishing a temporary connection|SE1450210A| SE538470C2|2014-02-21|2014-02-21|Procedure for establishing a temporary connection|
    EP15751542.0A| EP3107802B1|2014-02-21|2015-02-20|Method for establishing a temporary connection between two movable objects|
    CN201580020248.7A| CN106232470A|2014-02-21|2015-02-20|The interim apparatus and method connected are set up between two loose impediments|
    SG11201606890PA| SG11201606890PA|2014-02-21|2015-02-20|Device and method for establishing a temporary connection between two movable objects|
    PCT/SE2015/050197| WO2015126320A1|2014-02-21|2015-02-20|Device and method for establishing a temporary connection between two movable objects|
    CA2939676A| CA2939676A1|2014-02-21|2015-02-20|Device and method for establishing a temporary connection between two movable objects|
    DK15751542.0T| DK3107802T3|2014-02-21|2015-02-20|PROCEDURE FOR ESTABLISHING A TEMPORARY CONNECTION BETWEEN TWO MOVING OBJECTS|
    US15/119,483| US10093189B2|2014-02-21|2015-02-20|Device and method for establishing a temporary connection between two movable objects|
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