Intelligent multi-tugboat collaborative control operation system

Abstract

The present invention discloses an intelligent multi-tugboat collaborative control operation system, including an external environment monitoring system, a sensor system, a central control system, and a tugboat cab steering drive system. The external environment monitoring system includes a tugboat ship speed monitoring module, a water flow direction and flow rate monitoring module, and a ship operation six-dimensional posture monitoring module. The sensor system includes an inertial navigation system and a global positioning system. The inertial navigation system includes a signal receiving module, a signal transmission module, and an operation status recording module. The advantages are: the present invention can detect and control the position, path, steering mode, etc. of the tugboat towing the ship, increase the collaborative control efficiency between multiple tugboats, reduce the fuel consumption of tugboat operations, improve safety performance, and can also calculate and provide steering guidance, reduce subjective errors in manual steering, and increase the success rate of berthing.

Description

Technical Field

[0001] The present invention relates to the technical field of ship and ocean engineering, and in particular to an intelligent multi-tugboat collaborative control operation system. Background Art

[0002] Tugboats are vessels that can tow ships that are not self-propelled to ports. They are small in size but have high propulsion power. They do not have cargo holds and cannot carry cargo. They can only tow ships.

[0003] Traditional tugboat operations rely on the experience of the pilot and the captain. This operation method is prone to misunderstanding and is easily influenced by the pilot and the captain. There are certain subjective errors, which increases the potential risks of tugboat operations.

[0004] In addition, the information transmission interaction of existing tugboats is relatively long, and there is a delay in communication. There is a time difference between the pilot's instructions and the captain's execution, and the size of the time difference is not controlled, which will cause steering deviation due to the large time difference;

[0005] Therefore, it is urgent to design an intelligent multi-tugboat collaborative control operation system to solve the above problems.

[0006] The information disclosed in this background technology section is only intended to enhance the understanding of the overall background of the invention and should not be regarded as an acknowledgment or any form of suggestion that the information constitutes the prior art already known to a person skilled in the art. Summary of the invention

[0007] The purpose of the present invention is to solve the problems existing in the prior art and to propose an intelligent multi-tugboat collaborative control operation system.

[0008] In order to achieve the above object, the present invention adopts the following technical solutions:

[0009] Intelligent multi-tugboat collaborative control operation system, including external environment monitoring system, sensor system, central control system, and tugboat cab steering drive system;

[0010] The external environment monitoring system includes a tugboat ship speed monitoring module, a water flow direction and flow rate monitoring module, and a ship operation six-dimensional posture monitoring module;

[0011] The sensor system includes an inertial navigation system and a global positioning system;

[0012] The inertial navigation system includes a signal receiving module, a signal transmission module, and an operation status recording module, which are used to record and calculate the operation status data of the tugboat in real time, and receive and transmit external signals;

[0013] The global positioning system includes the Beidou navigation system and the GPS navigation system, which can accurately locate the regional geographical coordinates of the tugboat, and then accurately calculate the coordinates of the tugboat and the towed ship;

[0014] The central control system includes an A / D conversion module and a fuzzy control algorithm;

[0015] The A / D conversion module can receive and integrate the information of the tugboat's travel speed, external water flow speed, operating posture and regional geographic coordinate position through wireless signals;

[0016] The fuzzy control algorithm can calculate the above-mentioned converted and integrated information data, and deduce and calculate the best steering instructions suitable for the tugboat's movement through the kinematic relationship between the tugboat's operation and the water flow rate and the intelligent algorithm;

[0017] The tugboat cab steering drive system includes a command receiving module, a command data integration module and a display module. After the central control system calculates the best steering command, it transmits the operation signal to the command receiving module;

[0018] When the command receiving module receives the data, it will transmit it to the command data integration module for data integration, and calculate the actual operation method and the travel path, and display them on the display module. The driver can refer to the operation method to control the tugboat to adjust its posture, and then complete the tugboat's tugboat operation to enter the port. The steering command information in multiple tugboats interacts with each other, and then the coordinated entry into the port between multiple tugboats is completed in an orderly manner without interfering with each other.

[0019] In the above-mentioned intelligent multi-tugboat coordinated control operation system, the external environment monitoring system monitors the current speed of the tugboat through the tugboat speed monitoring module, and records the average speed in the previous period of travel;

[0020] The water flow direction and flow velocity monitoring module is used to monitor the external water flow direction and flow velocity of the tugboat in real time, and to measure the impact of the tugboat on the external water flow velocity when it is moving;

[0021] The six-dimensional posture monitoring module of ship operation can monitor the motion posture of the tugboat while it is sailing, and further monitor the tilt angle, draft depth, etc. of the hull of the tugboat in real time while it is sailing.

[0022] In the above-mentioned intelligent multi-tugboat collaborative control operation system, the Beidou navigation system and the GPS navigation system in the global positioning system can be used independently or in conjunction with each other. An appropriate navigation system can be selected according to the regional location of the tugboat to increase the accuracy of regional coordinate positioning.

[0023] In the above-mentioned intelligent multi-tugboat collaborative control operation system, the central control system plays a role in signal interaction and integration, and is usually set up in the captain's central control room in the tugboat, so as to facilitate the captain to monitor and view the information in real time, and facilitate the real-time regulation of information.

[0024] In the above-mentioned intelligent multi-tugboat collaborative control operation system, a system detection module is provided in the central control system, which can perform real-time health monitoring of the operating status of the external environment monitoring system, sensor system, central control system, and tugboat cab steering drive system to avoid failures of the above-mentioned systems during operation.

[0025] In the above-mentioned intelligent multi-tugboat collaborative control operation system, a reverse thrust detection module is provided in the steering drive system of the tugboat cab. When there is a large deviation between the steering command received by the driver and the operation method judged by his own experience, the reverse thrust detection module can be used to perform error detection and reverse thrust, and the steering command can be checked through the central control system, thereby avoiding the generation of erroneous commands.

[0026] In the above-mentioned intelligent multi-tugboat collaborative control operation system, a detection and secondary calculation module is provided in the central control system. When the reverse thrust detection module performs an error detection reverse thrust, the signal will be transmitted to the detection and secondary calculation module. The detection and secondary calculation module will detect the correctness of the steering instruction and perform a secondary calculation on the steering instruction based on the existing information, so as to detect the secondary steering instruction and compare it with the primary steering instruction.

[0027] In the above-mentioned intelligent multi-tugboat collaborative control operation system, a command analysis module is provided in the central control system. When the secondary steering command calculated by the detection and secondary calculation module is the same as the primary steering command, the correctness of the steering command will be analyzed through the command analysis module. When it is detected that the command is significantly different, the data signal will be transmitted to the system detection module, and the system detection module will perform a health check on the entire operation system to determine the location of the erroneous system.

[0028] Compared with the prior art, the present invention has the following advantages:

[0029] 1: The present invention can monitor and measure the ship's operating status and external environment in real time, and can reduce the impact of the external environment on the ship's towing.

[0030] 2: The present invention can accurately monitor and locate the positions of the tugboat and the vessel to be towed, thereby avoiding the deviation of the tugboat's travel coordinates, reducing the contact and connection time between the tugboat and the vessel to be towed, and reducing fuel consumption.

[0031] 3: The present invention can receive and calculate the external environment data and coordinate data, and can calculate the appropriate steering instructions and travel routes, which can reduce the errors caused by the subjective operation of the crew and increase the accuracy and safety of the tugboat towing into the port.

[0032] In summary, the present invention can detect and control the position, path, steering mode, etc. of a tugboat towing a vessel, increase the efficiency of coordinated control between multiple tugboats, reduce fuel consumption during tugboat operations, improve safety performance, and calculate and provide steering guidance to reduce subjective errors in manual steering and increase the success rate of mooring. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] The specific embodiments of the present invention are further described in detail below in conjunction with the accompanying drawings, wherein:

[0034] Figure 1 This is a schematic diagram of the structure of the intelligent multi-tugboat collaborative control operation system proposed in the present invention. DETAILED DESCRIPTION

[0035] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0036] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0037] Reference Figure 1 , intelligent multi-tugboat collaborative control operation system, including external environment monitoring system, sensor system, central control system, and tugboat cab steering drive system;

[0038] The external environment monitoring system includes a tugboat speed monitoring module, a water flow direction and velocity monitoring module, and a ship operation six-dimensional posture monitoring module;

[0039] The sensor system includes an inertial navigation system and a global positioning system;

[0040] The inertial navigation system includes a signal receiving module, a signal transmission module, and an operation status recording module, which are used to record and measure the operation status data of the tugboat in real time, and receive and transmit external signals;

[0041] The global positioning system includes the Beidou navigation system and the GPS navigation system, which can accurately locate the regional geographical coordinates of the tugboat, and then accurately calculate the coordinates of the tugboat and the towed ship;

[0042] The central control system includes an A / D conversion module and a fuzzy control algorithm;

[0043] The A / D conversion module can receive and integrate the information of the tugboat’s speed, external water flow speed, operating posture, and regional geographic coordinates through wireless signals;

[0044] The fuzzy control algorithm can calculate the above-mentioned converted and integrated information data, and deduce and calculate the best steering instructions suitable for the tugboat through the kinematic relationship between the tugboat's operation and the water flow rate and the intelligent algorithm;

[0045] The steering drive system of the tugboat cab includes a command receiving module, a command data integration module and a display module. After the central control system calculates the best steering command, it will transmit the operation signal to the command receiving module;

[0046] The command receiving module will transmit the received data to the command data integration module for data integration, calculate the actual operation mode and the travel path, and display them on the display module. The driver can refer to the operation mode to control the tugboat to adjust its posture, and then complete the tugboat's tugboat operation. The steering command information in multiple tugboats interacts with each other, and then the coordinated entry of multiple tugboats into the port is completed in an orderly and non-interfering manner.

[0047] The external environment monitoring system monitors the current speed of the tugboat through the tugboat speed monitoring module, and records the average speed in the previous period of travel;

[0048] The water flow direction and velocity monitoring module is used to monitor the external water flow direction and velocity of the tugboat in real time, and to measure the impact of the tugboat on the external water flow velocity when it is moving;

[0049] The six-dimensional attitude monitoring module of ship operation can monitor the motion attitude of the tugboat during sailing, and further monitor the tilt angle and draft depth of the hull of the tugboat in real time.

[0050] The Beidou navigation system and GPS navigation system in the global positioning system can be used independently or in conjunction with each other. The appropriate navigation system can be selected according to the regional location of the tugboat to increase the accuracy of regional coordinate positioning.

[0051] The central control system plays a role in signal interaction and integration. It is usually set up in the captain's central control room in the tugboat, which is convenient for the captain to monitor and view information in real time and to adjust information in real time.

[0052] The central control system is equipped with a system detection module, which can monitor the operating status of the external environment monitoring system, sensor system, central control system, and tugboat cab steering drive system in real time to avoid failure of the above systems during operation.

[0053] The tugboat cab steering drive system is equipped with a reverse thrust detection module. When the steering command received by the driver deviates greatly from the operation mode judged by his own experience, the reverse thrust detection module can be used to detect the error and reverse the thrust, and the steering command can be checked through the central control system to avoid the generation of erroneous commands.

[0054] The central control system is equipped with a detection and secondary calculation module. When the reverse thrust detection module reports an error detection reverse thrust, the signal will be transmitted to the detection and secondary calculation module. The detection and secondary calculation module will detect the correctness of the steering command and perform a secondary calculation on the steering command based on the existing information, so as to detect the secondary steering command and compare it with the primary steering command.

[0055] A command analysis module is provided in the central control system. When the secondary steering command calculated by the detection and secondary calculation module is the same as the primary steering command, the correctness of the steering command will be analyzed through the command analysis module. When it is detected that the command is significantly different, the data signal will be transmitted to the system detection module. The system detection module will perform a health check on the entire operating system to determine the location of the erroneous system.

[0056] It is further explained that the above-mentioned fixed connection should be understood in a broad sense unless otherwise clearly specified and limited. For example, it can be welding, gluing, or one-piece molding, etc., which are conventional means well known to those skilled in the art.

[0057] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0058] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. Intelligent multi-tugboat collaborative control operation system, characterized by: Including external environment monitoring system, sensor system, central control system, tugboat cab steering drive system; The external environment monitoring system includes a tugboat ship speed monitoring module, a water flow direction and flow rate monitoring module, and a ship operation six-dimensional posture monitoring module; The sensor system includes an inertial navigation system and a global positioning system; The inertial navigation system includes a signal receiving module, a signal transmission module, and an operation status recording module, which are used to record and calculate the operation status data of the tugboat in real time, and receive and transmit external signals; The global positioning system includes the Beidou navigation system and the GPS navigation system, which can accurately locate the regional geographical coordinates of the tugboat, and then accurately calculate the coordinates of the tugboat and the towed ship; The central control system includes an A / D conversion module and a fuzzy control algorithm; The A / D conversion module can receive and integrate the information of the tugboat's travel speed, external water flow speed, operating posture, and regional geographic coordinate position through wireless signals; The fuzzy control algorithm can calculate the above-mentioned received and integrated information data, and derive and calculate the best steering instructions suitable for the tugboat through the kinematic relationship between the tugboat operation and the water flow rate and the intelligent algorithm; The tugboat cab steering drive system includes a command receiving module, a command data integration module and a display module. After the central control system calculates the best steering command, it transmits the operation signal to the command receiving module; When the command receiving module receives the data, it will transmit it to the command data integration module for data integration, and calculate the actual operation method and the travel path, and display them on the display module. The driver can refer to the operation method to control the tugboat to adjust its posture, and then complete the tugboat's tugboat operation to enter the port. The steering command information in multiple tugboats interacts with each other, and then the coordinated entry into the port between multiple tugboats is completed in an orderly manner without interfering with each other.

2. The intelligent multi-tugboat coordinated control operation system according to claim 1 is characterized in that: The external environment monitoring system monitors the current speed of the tugboat through the tugboat speed monitoring module, and records the average speed in the previous period of travel; The water flow direction and flow velocity monitoring module is used to monitor the external water flow direction and flow velocity of the tugboat in real time, and to measure the impact of the tugboat on the external water flow velocity when it is moving; The six-dimensional posture monitoring module of ship operation can monitor the motion posture of the tugboat while it is sailing, and further monitor the tilt angle and draft depth of the hull of the tugboat in real time while it is sailing.

3. The intelligent multi-tugboat coordinated control operation system according to claim 1 is characterized in that: The Beidou navigation system and the GPS navigation system in the global positioning system can be used independently or in conjunction with each other. An adaptive navigation system can be selected according to the regional location of the tugboat to increase the accuracy of regional coordinate positioning.

4. The intelligent multi-tugboat coordinated control operation system according to claim 1 is characterized in that: The central control system plays a role in signal interaction and integration, and is usually arranged in the captain's central control room in the tugboat, so as to facilitate the captain to monitor and view information in real time, and to facilitate real-time regulation of information.

5. The intelligent multi-tugboat coordinated control operation system according to claim 1 is characterized in that: The central control system is provided with a system detection module, which can perform real-time health monitoring of the operating status of the external environment monitoring system, the sensor system, the central control system, and the tugboat cab steering drive system to avoid failures of the above systems during operation.

6. The intelligent multi-tugboat coordinated control operation system according to claim 5 is characterized in that: A reverse thrust detection module is provided in the steering drive system of the tugboat cab. When there is a large deviation between the steering command received by the driver and the operating method judged by his own experience, the reverse thrust detection module can perform error detection and reverse thrust, and check the steering command through the central control system, thereby avoiding the generation of erroneous commands.

7. The intelligent multi-tugboat coordinated control operation system according to claim 6 is characterized in that: The central control system is provided with a detection and secondary calculation module. When the reverse thrust detection module performs an error detection reverse thrust, the signal will be transmitted to the detection and secondary calculation module. The detection and secondary calculation module will detect the correctness of the steering instruction and perform a secondary calculation on the steering instruction based on the existing information, so as to detect the secondary steering instruction and compare it with the primary steering instruction.

8. The intelligent multi-tugboat coordinated control operation system according to claim 7 is characterized in that: The central control system is provided with a command analysis module. When the secondary steering command calculated by the detection and secondary calculation module is the same as the primary steering command, the correctness of the steering command will be analyzed through the command analysis module. When it is detected that the commands are significantly different, the data signal will be transmitted to the system detection module. The system detection module will perform a health check on the entire operating system to determine the location of the erroneous system.

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