10results about "Tugs" patented technology

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.

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).

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.

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.

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.

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.

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.