关键词: 自动稳定平台, 引航员, 登离船装置, 登离船安全, 惯性测量

Abstract:

In order to fundamentally reduce the risk caused by climbing the pilot's ladder, a pilot boarding and disembarking device based on the offshore automatic stabilization platform was proposed. The device was composed of an attitude/motion measurement system, stability compensation control system, hydraulically driven automatic stabilization platform, and auxiliary pilot channel. Through the real-time and efficient parallel six-degree-of-freedom stability compensation algorithm of the automatic stabilization platform, the parametric design of the parallel mechanism based on the hull with the equipment and sea conditions, and the complex algorithm of system safety and reliability design, the stability of the device in the boarding and disembarking process was realized. The results show that the device can realize the essential safety of pilot boarding and disembarking, and the pilot can directly board and disembark the ship without using the pilot's ladder, reducing the risk of boarding and disembarking under heavy storm weather and fundamentally eliminating the safety hidden danger caused by improper placement of the ladder.

Key words: automatic stabilization platform, pilot, boarding and disembarking device, boarding and disembarking safety, inertial measurement