102results about "Tugs" patented technology

The invention relates to a towed towed buoy array positioning device and method. The towed towed buoy array positioning device comprises a towed mother ship, and a deck unit is fixedly installed on the towed mother ship; the system further comprises a plurality of dragging buoys which are connected in series through ropes and form a dragging buoy array, the dragging buoy located at the foremost end is connected with the dragging mother ship through the rope, and the whole dragging buoy array is dragged by the dragging mother ship on the water surface to sail. The dragging buoy located at the tail end is arranged in a transverse offset mode, complex installation and calibration are not needed before use, and laying and recycling are convenient; the acoustic measurement sensor is always kept far away from a mother ship and is less interfered by ship body noise, so that the acoustic positioning calculation precision is greatly improved; according to the device, accurate positioning of deep towing is achieved based on the spatial distance intersection positioning principle, the base line of the acoustic measurement sensor array is long, the accuracy advantage of long base line positioning is achieved, no positioning tracking ship is arranged in the method, and compared with a double-ship positioning method, the manpower and material resource cost is reduced through the method.

The invention discloses an attention mechanism and deep learning-based electric tug energy consumption prediction method, which comprises the following steps of: acquiring ship power battery parameters, propulsion system parameters, navigation state parameters and navigation environment parameters in real time, and performing data preprocessing; the tug working conditions are classified and recognized, working condition recognition results are coded, and a data set for energy consumption prediction is constructed; and a pure electric tug energy consumption prediction model based on the LSTM-Transform hybrid architecture is constructed, the constructed prediction model is trained and tested, and finally energy consumption prediction per minute and energy consumption prediction per sea are realized. According to the method, the attention mechanism of Transform is combined with a deep learning method to fully mine the time sequence characteristics and non-linear correlation of the electric tug energy consumption data, the prediction precision is improved by adaptively adjusting model parameters, and reliable data support can be provided for energy optimization scheduling and cruising ability evaluation of the electric tug; and the economy and safety of ship operation are effectively improved.

The invention is suitable for the technical field of ship control, and provides a berthing motion control method of a towing system, the towing system, equipment and a medium, the method comprises the steps that state information of the towing system at the current moment is acquired, and the state information comprises the state of a tugboat, the state of a barge and the towing cable pulling force between the tugboat and the barge; generating a state space vector of the towing system according to the state of the tugboat and the state of the barge; inputting the state space vector and the towing cable tension into a pre-established Markov decision process model to obtain an action space vector of the tugboat; and carrying out berthing control on the towing system based on the action space vector. According to the invention, efficient, stable and safe barge dragging system berthing operation can be realized.

A coupler for coupling a marine vessel line and a tugboat line is provided. The coupler includes a coupling zone for receiving the marine vessel line and the tugboat line. A guide is configured to receive a connector and guide the connector around the coupling zone to wrap the connector around the lines. A securing member is configured to secure the connector to the lines such that the lines are coupled. The securing member is upstream of the guide and is configured to bend the connector prior to the connector being received by the guide.

A system and method for assisting a drag operation of a floating wind turbine (FWT) is disclosed. The FWT is provided with a wireless communication system and at least one position sensor for measuring the position of the FWT in at least three degrees of freedom. The main towing vessel is connected to the floating wind turbine by a towing line. The main dragging ship comprises a winch, a DP system and a two-way wireless communication system. A drag assist system / module / controller may be combined with a DP system. The one or more auxiliary drag vessels are connected to the floating wind turbine by drag lines. And one or more auxiliary dragging ships are provided with a two-way wireless communication system. A drag assist system / module / controller calculates setpoints (forces and directions) for all drag ships based on one or more input parameters from the floating wind turbine, one or more input parameters from each auxiliary drag ship, and one or more input parameters from the main drag ship.

A hull for a vessel for towing is disclosed, comprising a deck and a towing staple for guiding a towing line. The towing staple comprises a guiding element having a symmetrical extension in a first plane parallel to the deck, wherein the guiding element comprises a first and a second mounting section mounting the guiding element to the hull. The first and second mounting sections are connected by means of a main section of the guiding element. The guiding element comprises a towing line guiding surface located on a bottom side of the main section facing the deck, the towing line guiding surface being configured to, during a towing procedure, slidably contact the towing line, such that the towing line can freely move along a periphery of the main section in the first plane while being restricted in movement by the main section in a direction perpendicular to the first plane. The towing staple further comprises a support element, wherein the support element is arranged on a top side of the main section and extends at an angle to the first plane from the top side of the guiding element to a second plane perpendicular to the first plane and extending through the first and second mounting sections.

A module for determining a relative position between an assisting vessel and an assisted vessel connectable to the assisting vessel with a towline The assisting vessel has a winch controlling the towline between the assisting vessel and the assisted vessel. The module estimates the relative position between the assisting vessel and the assisted vessel based on one or more winch parameters. The module may be used in a safety system in towing operations.

The invention provides a full-rotation tug with both port mooring assistance and coastal towing, and belongs to the technical field of tugs. The ship comprises a ship body structure, the ship body structure comprises a main deck and a head lifting deck, the main deck and the head lifting deck form a connecting deck structure in the middle of the ship body structure, a towing engine is arranged at the position, close to the middle of the ship body structure, of the main deck, and two anchor winches are symmetrically arranged on the head lifting deck; a folding arm crane and a winch are arranged on the main deck located behind the towing engine, a cabin platform is arranged in the ship body structure below the main deck, a standby cable winding machine is installed on the cabin platform, and a cable hatch cover used for allowing a cable on the standby towing engine to enter and exit is arranged on the main deck. A larger coverage range is provided for tail towing, sailors can be ensured to safely engage in towing work by canceling the design of the rear lifting deck, and the cylinder hanging space required by maintenance of the medium-speed engine can be met by extending the first lifting deck.

A hull for a towing vessel is disclosed, comprising a deck and a towing shackle for guiding a towing cable. The towing shackle includes a guide element having a symmetrical extension in a first plane parallel to the deck, wherein the guide element includes first and second mounting sections for mounting the guide element to the hull. The first and second mounting sections are connected by a main section of the guide element. The guide element includes a towing cable guide surface located on the bottom side of the main section facing the deck, the towing cable guide surface being configured to slidably contact the towing cable during towing, such that the towing cable is freely movable along the periphery of the main section in a first plane while being restrained by the main section in a direction perpendicular to the first plane. The towing shackle also includes a support element, wherein the support element is arranged on a top side of the main section and extends from the top side of the guide element at an angle to the first plane to a second plane, the second plane being perpendicular to the first plane and extending through the first and second mounting sections.

The invention provides a ship magnetic levitation eliminating type operation system. The ship magnetic levitation eliminating type operation system comprises a dock type platform, a cable frame, a magnetic sensor and a cable coil. The number of the cable frames is multiple, the multiple cable frames are arranged at intervals in the extending direction of the dock type platform, the dock type platform is provided with a sinking chamber, and the cable coil is wound along the inner walls of the cable frames and the sinking chamber to form a closed-loop spiral coil. The multiple magnetic sensors are arranged at the bottom of the sinking chamber and are arranged in an array mode in the distribution direction of the cable frame. The problems that in the prior art, ship demagnetization efficiency is low, and ship maneuverability is poor in the demagnetization process are solved.

The invention relates to the technical field of water sports auxiliary equipment, and discloses an electric towing boat which comprises a towing boat body, the tail end of the towing boat body is connected with one end of a connecting rope, and the other end of the connecting rope is connected with a user standing on water sports equipment; the power system is arranged on the towing boat body and used for driving the towing boat body to advance on the water surface; the control system is arranged on the towing boat body and electrically connected with the power system; and the operating system is fixedly connected to the connecting rope, and a user holds the operating system by hand and performs data interaction with the control system through a wireless communication module. The device thoroughly gets rid of dependence on natural storm waves and additional motorized ships, achieves water sports in a windless environment, is compact in structure, easy to carry and extremely visual and sensitive to control, greatly reduces the operation difficulty, relates to multiple safety measures, guarantees the safety of a user, and can adapt to various water sports equipment and different water area environments.

A ship (1) comprises a walkable deck (2), a superstructure (3) above the deck (2), an opening or a closable opening in the deck (2) or the superstructure (3) such as a door or ventilation opening, an internal combustion engine (6), a closed tank (7) for containing a low flashpoint liquid fuel (8), a fuel supply system (11) for supplying fuel (8) from the tank (7) to the internal combustion engine (6), an inert gas supply system (12) for supplying inert gas to the tank (7), a tank venting pipe (14) extending from the tank (7) to a vent outlet (15) of the tank venting pipe (14) and a pressure relief system (16) for allowing gas to flow from the tank (7) through the tank venting pipe (14) to the vent outlet (15) when pressure in the tank (7) exceeds a predetermined pressure level. The tank (7) has a fire retardant wall (10) and a storage volume which is larger than 1.5 m3. The vent outlet (15) is located within 3 m from the deck (2) and / or within 10 m from the opening or the closable opening and / or within 10 m from a potential ignition source.

The invention discloses a quick-response universal flexible auxiliary towing device which is applied to a floating fan towing system, the towing system comprises a floating fan foundation, a floating fan and a towing boat, the fan foundation comprises a plurality of wind power foundation piles, and the adjacent wind power foundation piles are fixedly connected through connecting rods. Through closed-loop control of real-time monitoring of the attitude sensing assembly, accurate instructions of the control system and dynamic adjustment of the power assembly, technical spanning from passive assistance to active stabilization is achieved, attitude changes caused by wind waves and flows can be quickly responded, targeted restoring force is provided, the risk that a floating type draught fan foundation drastically deflects and overturns is effectively avoided, and the service life of the floating type draught fan foundation is prolonged. Ballasting adjustment does not need to be carried out at a machine location point, and the construction difficulty is remarkably reduced.

This invention relates to the field of electric motor technology and provides a novel energy-saving propulsion motor for electric tugboats. The motor includes a motor body with support plates on both sides of its bottom. It further includes: telescopic columns fixedly installed on both sides of the bottom of the two support plates; first return springs fixedly installed on both sides of the bottom of the two support plates; and bases fixedly installed at the other ends of the four first return springs and the four telescopic columns. Two first sliding grooves are formed on the bottom of the support plates, and first sliders are slidably connected to both sides of the inner surface of the two first sliding grooves. The four first sliders are arranged in pairs. In this embodiment, the first return springs and the cross-support structure effectively buffer the motor body when it vibrates, reducing the impact force transmitted to the motor body, thereby protecting the motor body from excessive mechanical impact and extending its service life.

The application belongs to the technical field of ship power system and energy management control, and discloses a hybrid power tugboat adaptive parameter mapping energy management method and system, which comprises a diesel generator unit, a power battery, a super capacitor, an energy management controller and a load. The method obtains a future load prediction sequence through a single load prediction module, extracts prediction mean value, peak value, ramp rate peak value and pulse index and the like characteristics, and generates an adaptive parameter set through a mapping function in combination with the power battery and the super capacitor state, which is used for mode determination, target setting and weight setting; diesel power base load power is generated in a slow cycle, and quadratic programming is solved in a fast cycle in a three-source collaborative and charging mode. The application realizes optimal power distribution of the battery and the super capacitor under multiple constraint conditions, makes the super capacitor preferentially bear the pulse and maintain the target energy band, and limits the battery peak value and the power change rate, so as to reduce operation cost and carbon emission.

The application provides an unmanned tugboat capable of detecting a contact position, comprising an unmanned tugboat body, a hull propulsion device and a plurality of contact detection devices; the plurality of contact detection devices are installed on a circular arc plate and are uniformly arranged in a circular arc shape on the circular arc plate; the circular arc plate is fixed at a bow of the unmanned tugboat body; the hull propulsion device comprises a propeller and a propeller direction changing device; the propeller is located at the bottom of the tail end of the unmanned tugboat body; the propeller direction changing device is used for changing the direction of the propeller to the direction of the proximity switch after receiving the signal of the proximity switch. According to the application, the contact position of the unmanned tugboat and the ship can be directly determined through the plurality of contact detection devices, then the direction of the propeller is changed through the rudder box according to the signal of the proximity switch, the propelling force of the propeller directly acts on the contact position, and the propelling force of the contact position is maximized.

A traction device for towing an object along a water surface or through a body of water, the traction unit comprising at least one propulsive engine. The device device has a common center of gravity, center of thrust and center of buoyancy (13). A bridle (17) is attached to turn about an axis (14) through said common center (13). The bridle (17) has an attachment (18) at a distal end from the turn axis (14) to attach a tow line extending to the towed object.

Disclosed is a system 1000 for determining a virtual representation of at least part of an environment 800 that is navigable by a ship 700. The system has at least one beacon 101, 102, 201, 202, 301, 302, 401-403 remote from the ship. The or each beacon comprises at least one sensor 411-415 for sensing surroundings information representative of at least part of the environment, a transmitter 420, and a controller 430 connected to the at least one sensor and configured to cause the surroundings information to be transmitted via the transmitter. The system also comprises a control centre 500 remote from the ship. The control centre comprises a receiver 520 configured to receive the surroundings information, and a control unit 530 connected to the receiver and configured to determine a virtual representation of at least part of the environment based on the surroundings information. The virtual representation may comprise a topographical map, such as a LIDAR map.

Disclosed is a hull for a towing vessel, comprising a deck and a towing shackle for guiding a towing cable. The tow shackle includes a guide element having a symmetric extension in a first plane parallel to the deck, where the guide element includes first and second mounting sections that mount the guide element to the hull. The first and second mounting sections are connected by a main section of the guide element. The guide element includes a trailing cable guide surface on a deck-facing underside of the main section, the trailing cable guide surface configured to slidably contact the trailing cable during a towing process such that the trailing cable is free to move along a perimeter of the main section in a first plane, meanwhile, movement is limited by the main portion section in the direction perpendicular to the first plane. The towing shackle further comprises a support element arranged on the top side of the main section and extending from the top side of the guide element at an angle to the first plane to a second plane perpendicular to the first plane and extending through the first and second mounting sections.

The invention relates to a water-going assembly comprising a first buoyant structure (S1) comprising at least two hulls (F1, F1′; F11, F11′, F12, F12′) delimiting between them a space (E1) and a photovoltaic arrangement (PH1) occupying a substantial proportion of the footprint of the buoyant structure, and a second buoyant structure (S2) provided with an electric thruster (P2) and with a battery (B2), means for assembling the two buoyant structures detachably, with means of electrical connection between the photovoltaic arrangement of the first buoyant structure and the battery of the second buoyant structure, the latter being able to be used for moving the two structures (S1, S2) with a directional guidance, or as an autonomous motorized marine craft.

The invention relates to the technical field of ship power, and discloses a power system suitable for a pure electric harbor tug, the system comprises a power battery pack, a direct current distribution board, an alternating current distribution board, an auxiliary daily module, a charging box and a control module, the power battery pack is connected with the direct current distribution board, the auxiliary daily module and the charging box; the direct-current distribution board is connected with the alternating-current distribution board and the auxiliary daily module, the alternating-current distribution board comprises a plurality of daily transformers, the auxiliary daily module comprises an auxiliary daily inverter, an auxiliary sine filter and an auxiliary daily transformer, and the control module is used for switching power supply modes of the power battery pack according to ship states. And controlling the working states of the direct-current distribution board, the alternating-current distribution board and the auxiliary daily module based on the switched power supply mode, and determining the discharge priority of each power battery based on the electric quantity state of each power battery in the power battery pack. The stability and the use efficiency of the pure electric harbor tug power system are ensured.

A relay type transportation embedded inland river electric cargo ship comprises a power ship, a cargo barge and quick connecting mechanisms connected with the power ship and the cargo barge, and the quick connecting mechanisms comprise longitudinal connecting mechanisms arranged on the bow portion of the power ship and transverse limiting devices arranged on the two sides of the tail portion of the power ship. A U-shaped groove matched with the bow of the power ship in shape is formed in the stern of the cargo barge, so that after the power ship and the cargo barge are connected in an embedded mode, the shape of the inland river transport ship is a complete inland river transport ship, and the whole inland river transport ship has a smooth ship body line type. The power ship and the cargo barge can be rapidly connected and disconnected, the power ship can be rapidly replaced without cooperation of other auxiliary ships, the electricity supplementing time is greatly shortened, and the transportation efficiency is high; a plurality of power ships can push the cargo ship to sail in a relay mode, infinite endurance of the electric cargo ship is achieved, and long-distance transportation is achieved.

A ship maneuvering support system (4) of one embodiment is a support system used when a main ship (1) is assisted by at least one tugboat (2) in a harbor, and includes a control device (31). The control device (31) calculates a local path for each of a plurality of ship maneuvering modes related to pushing, towing, and parallelism of the tugboat (2) to the main ship (1) based on main ship information related to the specifications of the main ship (1) and tugboat information related to the specifications of the tugboat (2) every prescribed time with reference to a temporary course of the main ship (1) from a start point to an end point in the harbor, and calculates an evaluation value related to at least one of the pushing distance of the main ship (1), the fuel efficiency of the tugboat (2), the distance from the end of the local path to the temporary course, and the safety of the main ship (1) and the tugboat (2), and determines the ship maneuvering mode with the smallest evaluation value among the plurality of ship maneuvering modes as the optimal ship maneuvering mode.

The utility model relates to a berthing assisting operation system for tugboat, which belongs to the technical field of tugboat monitoring and comprises a laser radar group, a wide-angle camera group, a point cloud and video signal fusion processing server, a berthing assisting operation server, an audible and visual alarm, a first router and a data acquisition box. The laser radar group and the wide-angle camera group are arranged on the periphery of the tug; by means of the wide-angle camera set and the laser radar set which are additionally arranged, the surrounding environment of the tug can be monitored in an all-around mode, the surrounding situation of a ship can be accurately sensed, and accidents are avoided; besides, communication connection is established between the tug and the ship to be towed through the added data acquisition box, so that various monitoring data of the ship to be towed can be borrowed by the tug in the ship towing process, and the sailing safety of the tug is improved.

A system and method for assisting in towing a floating object is disclosed. The floating object is provided with a wireless communication system and at least one position sensor for measuring the position of the floating object in at least three degrees of freedom. The main towing vessel is connected with the floating object through a towing cable. The main towing vessel comprises a winch, a DP system and a bidirectional wireless communication system. A tow assist system / module / controller may be integrated with the DP system. One or more auxiliary towing boats are connected to the floating object by towing cables. The one or more auxiliary towing boats are provided with a bidirectional wireless communication system. The tow assist system / module / controller calculates setpoints (forces and directions) for all tow vessels based on one or more input parameters from the floating object, one or more input parameters from each auxiliary tow vessel, and one or more input parameters from the main tow vessel.

The invention discloses a hydrogen-electricity hybrid power tug energy management method for a berthing and unberthing working condition. The method comprises the steps that the berthing and unberthing working condition of a ship is predicted; calculating tug power configuration in the auxiliary berthing and departing process; a hydrogen-electricity hybrid power tug auxiliary berthing and unberthing operation energy management strategy model is constructed, a wavelet change strategy is adopted to decompose the power requirement precision of tug, a lithium battery provides instantaneous high power, and a hydrogen fuel cell provides residual low power; the hydrogen fuel cell works in an efficient area through an equivalent consumption minimum strategy, and consumption of hydrogen fuel is reduced; and realizing energy management of the hydrogen-electricity hybrid power tug based on auxiliary berthing and leaving working condition prediction. According to the invention, through hydrometeorological interference prediction, the power required for assisting the tug when the ship is berthed and unberthed is realized; the problem of required power under the auxiliary berthing and unberthing working condition can be effectively solved, and two power sources can be reasonably and evenly distributed; layered management of the cell and the fuel cell of hydrogen-electricity hybrid power under the auxiliary berthing and leaving working condition is achieved.

It is disclosed a system and a method for assisting in towing operations of a floating wind turbine (FWT) An FWT is provided with a wireless communication system and at least one position sensor for measuring a position of the FWT in at least three degrees of freedom. A master tow vessel is connected to the floating wind turbine by a towline. The master tow vessel comprising a winch, a DP system, a two-way wireless communication system. A tow assist system / module / controller may be integrated with the DP system. An assisting tow vessel(s) is connected to the floating wind turbine by a towline. The assisting tow vessel(s) is provided with a two-way wireless communication system. The tow assist system / module / controller calculates set points (force and direction) for all the towing vessels based on input parameter(s) from the floating wind turbine, and input parameter(s) from each assisting towing vessel and input parameter(s) from the master tow vessel.

The invention discloses a floating type draggable sound barrier towed body device, which is characterized in that firstly, a rigid main floating body, a side fin module, a lower fin module and the like are arranged to shield sound waves, then, a flexible wave-absorbing material assembly is adopted to absorb part of non-target sound wave energy, and the flexible wave-absorbing material assembly is utilized to induce release of local microbubbles, so that the floating type draggable sound barrier towed body device is formed. A bubble wake is formed, the shielding capacity of the device for multiple waves and direct waves is further improved, a triple physical shielding mechanism is formed, a composite sound barrier system for achieving active interference of non-target waves at the front end of a propagation path is established, the device, a seismic source and a hydrophone are jointly dragged along with a ship, arrangement is flexible, and the device can be disassembled and assembled according to the operation sea condition. The device has good adaptability and reusability, and is suitable for various shallow water earthquake acquisition scenes such as coastal shallow geological survey, engineering survey and scientific research.

The utility model belongs to the technical field of beam transporting ship positioning, and discloses a beam transporting ship multi-dimensional auxiliary positioning system for transporting steel box girders, the steel box girders are arranged on a beam transporting ship, the beam transporting ship multi-dimensional auxiliary positioning system comprises a winch, a tugboat and an intelligent positioning device for monitoring the positions of the steel box girders in real time, and ship anchors for positioning after position adjustment are arranged on the bow and the stern of the beam transporting ship. The winches are symmetrically installed on the bow and the stern of the girder transporting ship, cables are connected with bridge pier columns on the corresponding sides, and therefore the girder transporting ship can be preliminarily adjusted in the bridge direction through cable winding and unwinding according to steel box girder monitoring data, and the tugboat is connected with a body of the girder transporting ship, so that the girder transporting ship can be preliminarily adjusted in the transverse bridge direction according to the steel box girder monitoring data. The intelligent positioning device comprises a Beidou / GPS dual-mode positioning instrument and a total station used for establishing three-dimensional coordinate monitoring. The system has the advantages of multi-dimensional auxiliary accurate positioning, novel conception, improvement of engineering quality, guarantee of construction safety and the like.

The invention belongs to the technical field of steel box girder lifting, and discloses a large-span wide-width steel box girder multi-dimensional intelligent auxiliary positioning and integral lifting construction method which comprises the following steps: S1, a girder transporting ship for transporting a steel box girder travels to a stern and stays on a corresponding bridge pier side, and anchor dropping is carried out for stern initial positioning; s2, a Beidou / GPS dual-mode positioning instrument and a total station capable of establishing three-dimensional coordinate monitoring are set up to monitor the position of the steel box girder in real time, and the tugboat drags the bow of the girder transporting ship to rotate to achieve ship crossing; s3, adjusting the position of the bow of the beam transporting ship through traction of the tugboat and winding and unwinding of a winch cable, and anchoring and positioning the bow of the beam transporting ship; s4, the position of the stern of the beam transporting ship is adjusted through traction of the tugboat and winding and unwinding of a winch cable, and the stern of the beam transporting ship is anchored and positioned; and S5, a steel box girder bridge floor crane correspondingly installed on the bridge floor lowers a lifting rope to be connected with lifting points at the two ends of the steel box girder, and lifting is conducted. The method has the advantages that multi-dimensional auxiliary accurate positioning is achieved, the steel box girder is overall lifted, the engineering quality is improved, and construction safety is guaranteed.