31results about "Tugs" patented technology

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.

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.

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.

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 provides a control method, device, equipment and medium for multi-tugboat collaborative towing of an ocean platform, and relates to the technical field of towing control, and the method comprises the steps: building a coupled multi-body dynamic model based on the hardware connection relation of tugboats, towing cables and the ocean platform; on the basis of the coupled multi-body dynamic model and the dragging requirement, control force parameters needed by the ocean platform are determined through an ocean platform virtual controller; based on multiple dynamic constraints of the coupled multi-body dynamic model, a thrust distribution optimization problem is established and solved according to the control force parameters, and optimal tension data of the towrope is obtained; according to the optimal tension data and the coupled multi-body dynamics model, the expected time-varying alignment pose of the tugboat is determined; and determining a tugboat position tracking error and a tugboat speed tracking error of the tugboat according to the expected time-varying contraposition pose, designing an adaptive robust item based on a hyperbolic tangent function, compensating time-varying marine environment interference, and generating a control instruction. The tugboat can be autonomously controlled to drag.

The invention discloses an inland river energy storage tugboat receiving and transporting system and a working method thereof. The inland river energy storage tugboat receiving and transporting system comprises a tugboat and an electric boat. The tugboat is connected with the electric boat through a towing cable, and the tugboat drags the electric boat during advancing; a power battery is arranged on the electric boat, an energy storage battery is arranged on the tugboat, the energy storage battery is connected with the power battery through a charging cable, and the power battery of the electric boat is charged when the tugboat drags the electric boat. Between the tugboat and the electric boat, the charging cable and the towing cable are arranged in parallel, and the releasing length of the charging cable is larger than that of the towing cable. The tugboat is provided with an upward guiding mechanism, and the upward guiding mechanism is provided with a guiding and connecting piece capable of conducting lifting displacement. The charging cable is restrained on the leading and connecting piece, and the leading and connecting piece drives the charging cable to bend upwards when ascending. The energy storage battery is arranged on the tugboat, and the tugboat can charge the electric boat when towing the electric boat, so that the transportation efficiency is improved.

A vessel for towing is disclosed, comprising a hull comprising a deck, two propulsion systems arranged along the central longitudinal axis of the hull and a towing staple for guiding a towline. The towing stable comprises outer and inner towline stoppers, arranged between the two propulsion system for engaging with the towline during towing procedure.

A mooring positioning system and method for an HDPE pipe (100). The mooring positioning system for an HDPE pipe (100) comprises a barge (1), a floating crane (2), a tugboat (3), a plurality of auxiliary ships, and a plurality of positioning anchors (4); the tugboat (3) is used for towing the HDPE pipe (100); the barge (1) and the floating crane (2) are used for positioning the HDPE pipe (100) from two ends of the HDPE pipe (100); the positioning anchors (4) are symmetrically arranged on two sides of the HDPE pipe (100); the positioning anchors (4) are used for positioning the HDPE pipe (100); and the auxiliary ships are used for moving the HDPE pipe (100).

The present application relates to the technical field of intelligent tug, and provides an intelligent tug and a synchronous control method of a smart port for realizing intelligent synchronous control of the tug, which comprises a winch mechanism arranged on a deck of the tug and a cable wound on the winch mechanism, a limiting frame is arranged on one side of the winch mechanism, a magnetic suction head is arranged on the leading cable, and a joint capable of being engaged with the magnetic suction head is arranged on the cable; a leading cable capturing device is arranged at the edge of the deck of the tug, a cable operating device is arranged on one side of the limiting frame, the cable operating device grabs the joint on the cable, the leading cable capturing device pushes the magnetic suction head on the leading cable to slide, the operating device pushes the joint on the cable to slide, the magnetic suction head and the joint move towards each other and are engaged, and the cable is lifted to the deck of a mother ship through the leading cable.

The invention provides a towing winch for a towing wheel and an operation method of the towing winch, and relates to the technical field of towing operation equipment, the towing winch for the towing wheel comprises a machine base, a driving motor, a speed reducer, a winding drum, a brake frame, a cable guide frame, a suspension supporting guide frame, a cable locking frame, a labor-saving wheel set and a PLC control box; the driving motor is installed on the machine base and used for providing power for cable winding and cable unwinding. The winding drum is installed on one side of the driving motor, and the winding drum is rotationally connected with an output shaft of the driving motor through a speed reducer. The locking mechanism adopts a two-stage action mode of combining pre-buffering based on a magnetic repulsion principle and mechanical inclined plane locking. In the locking process, magnetic resistance is firstly and gently overcome, then firm mechanical locking force is applied, the process effectively avoids huge impact load generated by instant locking of a traditional lock, the risk of instant damage to a cable structure is greatly reduced, and soft and stable locking and firm and reliable keeping are achieved.

The application relates to the field of ship power technology and discloses a harbor tug hybrid power system, which comprises an engine and a Z-shaped propeller, the engine power output end is connected with a gear box, the gear box is internally provided with a clutch, the gear box output shaft one end is connected with the Z-shaped propeller, the engine output shaft one side is provided with a P1 generator, the gear box output shaft one end is provided with a P2 motor, the P1 generator is electrically connected with a direct current network, the direct current network is electrically connected with a battery pack and an inverter, and the inverter is electrically connected with a ship power grid. According to the characteristics of the harbor tug operation condition, the system is operated in the pure electricity or series hybrid mode under the low load condition, only one diesel engine is needed as the main generator set gap operation. Under the medium and high load conditions, the diesel engine is directly driven in the mode, the transmission efficiency is high, the energy conversion loss is small, the engine can be operated in the high-efficiency and low-oil-consumption condition all the time, and the fuel consumption is reduced.

It is disclosed a system (1) and a method for hook-up and tensioning of a floating wind turbine to the seabed. The floating wind turbine comprising at least one mooring line (3) adapted for mooring the floating wind turbine to the seabed. An installation vessel is provided with a dynamic positioning (DP) system and a winch (6), wherein the winch (6) is adapted for controlling a mooring line (3) / installation line (18). A tensioner is adapted for the mooring line / installation line. Controlling at least one of the winch and the dynamic positioning system on the installation vessel based on at least one input parameter for hook-up and tensioning of the at least one mooring line of the floating wind turbine to the seabed.

This invention relates to a dual-closed-loop attitude control system for underwater towed fish based on tail fin angle-of-attack position feedback, belonging to the field of underwater vehicle motion control and marine engineering equipment technology. The system includes an underwater towed platform, an attitude sensing unit, a tail fin angle-of-attack feedback unit, a dual-closed-loop controller, and an electric servo actuator. The system calculates the deviation between the desired and actual attitude angles, outputs the desired tail fin angle-of-attack command via a PID control algorithm, and provides angle limiting protection for the command. It then uses a shaft encoder to obtain real-time tail fin angle-of-attack feedback, inputs the tail fin angle-of-attack deviation into a servo amplifier, and drives a DC motor and gearbox to precisely adjust the deflection angle of the horizontal tail fin, achieving closed-loop correction of the towed fish's attitude. This invention, through the combination of cascade PID control strategy and physical feedback of tail fin angle-of-attack position, features fast response speed, high control accuracy, strong robustness, and excellent anti-interference capability, making it suitable for underwater towed detection and operation equipment in complex sea conditions.

The invention discloses a depth-fixed and speed-fixed underwater two-stage towing system and a control method thereof, and belongs to the technical field of underwater equipment. In the system, a towing mother ship is connected with a ballast device through a main towing cable, and the ballast device is connected with a towed body platform through an auxiliary towing cable; the sensing detection module collects signals of the towed body system and the towed body platform in real time and transmits the signals to the upper computer. And a PID control module in the upper computer performs PID operation on the deviation between the actual signal and the target signal based on the target depth and attitude, outputs a closed-loop control instruction to an execution mechanism, and realizes high-precision depth-setting and speed-setting control of the towed body system in a complex marine environment by adjusting the attack angle of the tail wing of the towed body. Interference of environmental factors such as mother ship motion and waves on the stability of the towed body platform is reduced through the ballast device, the dynamic correction capacity of a PID control algorithm is combined, the anti-interference performance and the control precision of the system are improved, the attitude angle error is smaller than or equal to + / -1 degree, and the system is widely applied to scenes such as ocean resource exploration, underwater environment monitoring and hydrological data collection.

Apparatus with orientable lateral towing arms for naval vessels, in particular for the safe transit of cruise ships through canals having limited and set width, comprising: at least two fender barges for each side of the hull or floating one¬ directional or two-directional spacers, having respective movable towing arms and intended to be temporarily secured to one side of the hull of a ship; means for the towing connection to the sides of the hull of the ship of the anterior part of the towing arms, oriented at an angle toward the side of the hull of the fender barge with the base directed toward the side of the hull of the ship, wherein said means for the towing connection of the anterior part of the towing arms are formed of structural supports welded in specific recesses of the opposing sides of the hull of the ship.

This utility model provides a floating ice towing device for offshore wind turbine foundations, belonging to the field of offshore wind turbine technology. It includes: a towing structure body, with two sets of first electric cylinders installed on the upper surface of the towing structure body. One set of first electric cylinder piston rods has an ice-clearing mechanism installed on its surface, and an inclined guide plate is installed on the surface of the towing structure body. The other set of first electric cylinder piston rods has a cutting mechanism and a rolling mechanism installed on both sides of their respective surfaces. This solution uses the first electric cylinders to drive the cutting mechanism, rolling mechanism, and ice-clearing mechanism for height adjustment. Subsequently, the cutting mechanism and ice-clearing mechanism can crush the floating ice in front, forming a continuous ice-breaking channel and reducing towing resistance. Simultaneously, the first electric cylinders allow for dynamic cutting to adapt to different ice thicknesses, ensuring the straightness and stability of the towing path. Furthermore, the cutting mechanism, rolling mechanism, and ice-clearing mechanism preferentially contact the floating ice, replacing the main body of the equipment in bearing the impact and reducing the probability of structural damage.

The utility model discloses a semi-water long tunnel detection unmanned dragging ship which solves the problems that an existing detection device is poor in environmental adaptability, complex in operation and the like through the collaborative design of a modularized buoy supporting structure, an electronic cabin, a camera and a sonar support. By adopting a mode of combining bolt connection and rigid welding, the structural stability and detachability are ensured, the device is suitable for torrent and narrow tunnel environments, and the detection efficiency and safety are remarkably improved.

This invention relates to a two-stage underwater towing system for constant depth and speed and its control method, belonging to the field of underwater equipment technology. In this system, the towing mother vessel is connected to the ballast via a main towing cable, and the ballast is connected to the towed platform via a secondary towing cable. A sensing module collects signals from the towed system and platform in real time and transmits them to a host computer. The PID control module in the host computer performs PID calculations on the deviation between the actual and target signals based on the target depth and attitude, outputting closed-loop control commands to the actuators. By adjusting the angle of attack of the towed platform's tail fin, high-precision constant depth and speed control of the towed system is achieved in complex marine environments. The ballast reduces the interference of the mother vessel's motion and environmental factors such as waves on the stability of the towed platform. Combined with the dynamic correction capability of the PID control algorithm, the system's anti-interference ability and control accuracy are improved, achieving an attitude angle error of ≤±1°. This system is widely applicable in scenarios such as marine resource exploration, underwater environmental monitoring, and hydrological data acquisition.

This invention provides a control method, apparatus, equipment, and medium for the coordinated towing of an offshore platform by multiple tugboats, relating to the field of towing control technology. The method includes: constructing a coupled multibody dynamics model based on the hardware connection relationships between the tugboats, towing cables, and the offshore platform; determining the required control force parameters for the offshore platform using a virtual controller based on the coupled multibody dynamics model and towing requirements; establishing and solving a thrust distribution optimization problem based on the multiple dynamic constraints of the coupled multibody dynamics model and the control force parameters to obtain the optimal tension data of the towing cables; determining the desired time-varying relative pose of the tugboats based on the optimal tension data and the coupled multibody dynamics model; determining the tugboat position tracking error and tugboat speed tracking error based on the desired time-varying relative pose, and designing an adaptive robust term based on the hyperbolic tangent function to compensate for time-varying marine environmental disturbances and generate control commands. This invention enables autonomous control of tugboat towing.

It is disclosed a system and a method for assisting in towing operations of a floating object A floating object is provided with a wireless communication system and at least one position sensor for measuring a position of the floating object in at least three degrees of freedom. A master tow vessel is connected to the floating object 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 object 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 object, and input parameter(s) from each assisting towing vessel and input parameter(s) from the master tow vessel.

The invention is related to a zero-emission, fully electrical tug system which is used in harbour operations, and which comprises an integrated propulsion system and power generation system to maximize useful lifetime of batteries which provide energy efficiency, and which are energy storage units and to store regenerative energy in said batteries and to be able to use it if necessary.

The invention belongs to the technical field of sea rescue, and discloses an unmanned rescue towing auxiliary ship and a using method thereof. According to the unmanned rescue towing auxiliary ship provided by the invention, the image recognition unit realizes real-time acquisition of the images of the outer wall surface of the marine difficult ship, a connection reference is provided for the magnetic connection unit and the marine difficult ship, the connection reliability of the unmanned rescue towing auxiliary ship and the marine difficult ship is improved, and the effectiveness and safety of rescue operation are enhanced. Connection between the unmanned rescue towing auxiliary ship and the marine difficult ship is achieved through the magnetic attraction effect of the magnetic connection unit and the marine difficult ship, and compared with the mode that a cable is manually driven to the marine difficult ship, the rescue safety of rescue workers is greatly improved. The invention further provides a using method of the unmanned rescue towing auxiliary ship, manual mooring is not needed in rescue operation, related operation of the unmanned rescue towing auxiliary ship can be achieved only by operating the control system of the towing ship by rescue workers, the manual labor intensity is low, and the operation safety is high.

The utility model relates to a dual-purpose electric tugboat for towing and eliminating, which belongs to the technical field of tugboats and comprises a boat body, a propelling mechanism, a deck house, a consumable liquid tank, a fire-fighting mechanism, a bow battery and a stern battery, and a fore peak, a vacant cabin, a bow battery cabin, a cabin, a stern battery cabin and a steering oar cabin are respectively arranged in the boat body; the propelling mechanism is fixed in the steering oar cabin; the deckhouse is fixed in the middle of a deck of the hull; the consumable liquid tank is arranged in the cabin; the fire-fighting mechanism comprises a fire-fighting pump and a fire-fighting monitor; the fire-fighting pump is fixed in the cabin and is communicated with the seawater tank; and the fire monitor is fixed on the deckhouse and is communicated with the fire pump. According to the utility model, the bow battery and the stern battery are distributed in the bow battery compartment and the stern battery compartment, so that the weight balance of the whole ship is ensured; meanwhile, a fire pump is arranged in a cabin in the middle of the ship body to realize dragging and eliminating dual purposes; in addition, the consumable liquid tank is arranged in the cabin in the middle of the ship body, so that the floating state of the ship body can be prevented from being greatly changed in the liquid consumption process.

The present invention consists of a sports rowing boat comprising a modular hull configured to receive a frame, where the frame is configured to receive at least one carriage assembly and at least one support assembly. The modular hull is formed by a bow module, one or more intermediate modules, at least one carriage module, at least one support module and a stem module. The frame is formed by two telescopic posts, where each telescopic post is formed by a plurality of frame portions. In this form, the quantity of carriage modules and support modules depend on the quantity of carriage assemblies and support assemblies that are had for each required configuration or boat size. All the modules, inserts, caps, frame portions components of the assemblies are joined or coupled in a temporary manner, such that the rowing boat can be assembled and disassembled to facilitate its transportation.

The utility model 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.

A vessel for towing is disclosed, comprising a hull comprising a deck, two propulsion systems arranged along the central longitudinal axis of the hull and a towing staple for guiding a towline. The towing staple comprises outer and inner towline stoppers, arranged between the two propulsion systems for engaging with the towline during towing procedure.

The invention discloses an underwater tow fish posture double-closed-loop control system based on empennage attack angle position feedback, and belongs to the technical field of underwater vehicle motion control and ocean engineering equipment. The system comprises an underwater towing platform, an attitude sensing unit, an empennage attack angle feedback unit, a double-closed-loop controller and an electric servo execution unit. The system calculates the deviation between an expected attitude angle and an actual attitude angle, calculates and outputs an expected empennage attack angle instruction through a PID control algorithm, and performs angle amplitude limiting protection on the instruction; and then real-time empennage attack angle feedback is obtained through a shaft encoder, empennage attack angle deviation is input into a servo amplifier, a direct current motor and a reduction gearbox are driven to accurately adjust the deflection angle of the horizontal empennage, and closed-loop correction of the fish dragging posture is achieved. Through combination of a cascade PID control strategy and empennage attack angle position physical feedback, the method has the characteristics of high response speed, high control precision, strong robustness and excellent anti-interference capability, and is suitable for underwater towing detection and operation equipment under complex sea conditions.

This invention discloses a method for assisting ships in passing through navigation tunnels. It includes the following steps: Step 1: retracting the wheeled drive mechanism; Step 2: moving the towing platform to the waiting ship; Step 3: extending the wheeled drive mechanism; Step 4: the bow of the ship entering the concave structure of the towing platform; Step 5: connecting the towing platform to the bow mooring bollard or hull of the ship; Step 6: activating the wheeled drive mechanism to tow the towing platform and ship; Step 7: moving the towing platform to the exit of the navigation tunnel and disconnecting the towing platform from the bow of the ship; Step 8: the towing platform exiting the channel and waiting for oncoming ships in the double-lane navigation tunnel; Step 9: the oncoming ship passes through by its own propulsion; Step 10: the towing platform connecting with the oncoming ship and towing it through the tunnel; Step 11: the towing platform returning to the starting point of the navigation tunnel. This invention has the advantage of enabling ships to pass through long-distance navigation tunnels under conditions of large water level fluctuations.

According to the water buoyancy shifting method, an existing building is jacked upwards at the original site, a shifting ship is newly built at the bottom of the existing building at the original site, the existing building and the newly built shifting ship are fixed, and after the water level rises to the designed water level, the shifting ship loaded with the existing building is pulled from the original site to the new site through a traction power boat; a new site foundation is newly built below the displacement ship at the new site, the displacement ship is fixed to the newly-built foundation, the upper building is preliminarily fixed, a steel sheet pile cofferdam is built at the new site, drainage treatment is conducted, and after water in the steel sheet pile cofferdam is drained, the displacement ship is dismantled, and connection between the upper building and the newly-built foundation is reinforced. The construction method is suitable for displacement engineering with large fill along the way, rich surrounding water resources and light weight of the displaced existing building, and the novel displacement method can be popularized and used.