Port berthing assistance tugboat power test system

Abstract

The present invention discloses a tugboat power test system for assisting berthing operations in a port, comprising: a water pool for containing water for testing; a ship located on the water surface of the water pool, on which a mooring bollard is arranged; a power test system, comprising at least two tugboats located on the water surface of the water pool, a driving device for driving the tugboats to translate in the X-axis direction and the Y-axis direction, and a dynamometer; the driving device is installed above the water pool, each tugboat is provided with an automatic cable retractor and a pressure sensor, the cable end dynamometer on the automatic cable retractor is connected to the mooring bollard, and the pressure sensor is located on the side of the tugboat facing the ship; during the translation of the tugboat in the X-axis direction and the Y-axis direction, the dynamometer is used to test the pulling force of the tugboat towing the ship, and the pressure sensor is used to test the impact force of the collision between the tugboat and the ship and the thrust force during the collision and push, so as to meet the testing requirements.

Description

Technical Field

[0001] The invention relates to the technical field of ship and marine equipment testing, in particular to a power testing system for a tugboat used for port berthing assistance operations. Background Art

[0002] At present, tugboats are generally used to assist ships in berthing operations at ports. Tugboat ) is implemented, so the berthing performance of the tugboat is particularly important. Therefore, it is necessary to conduct simulation tests on the power (traction and thrust) of the tugboat during the tugboat research and development stage. There are many types of existing test devices and methods. The test method disclosed in the "Tugboat Bollard Towing Test Method" CB / T3430-2013, the ship industry standard of the People's Republic of China, and the test method disclosed in the "Tugboat Towing Test Guide" (written by Pan Deng and Xu Zhongwei) published by China Water Transport. The above-mentioned existing tugboat power (traction and thrust) test devices and methods are mainly for tugboats. After leaving the dock, the tugboat cable is hung on the mooring pier of the dock, and the tugboat is towed in the horizontal direction at different powers to test the tension of the tugboat winch system and its tension changes under different powers. In addition, wireless detection methods are derived on the basis of the above-mentioned prior art, such as a tugboat towing multi-parameter wireless test device disclosed in the Chinese patent with the publication number CN105891529A, and a tugboat towing test device announced as CN202433135 and a tugboat towing test device announced as CN201819758U as announced in the Chinese patent. However, the above-mentioned disclosed technology can only realize tension testing, which is mainly used to test the power of the tugboat, resulting in a single test method, and it is impossible to consider the objective thrust in the actual operation of the tugboat and the difference between the oblique towing force and the horizontal pulling force caused by the height difference of the ship. It can no longer meet the testing needs of the tugboat research and development stage of the existing port operation, so it is urgently needed to be improved. Summary of the invention

[0003] The purpose of the present invention is to solve the deficiencies of the above-mentioned technology and to design a power test system for a tugboat for port berthing assistance operations. The specific method and structure are as follows.

[0004] The tugboat power test system for port berthing assistance designed by the present invention comprises:

[0005] A pool with wave flow to hold the water used for testing;

[0006] At least one vessel, which is located on the water surface of the pool and has a mooring bollard disposed on the vessel;

[0007] A power test system, comprising at least two tugboats located on the water surface of a water pool, a driving device for driving the tugboats to translate in the X-axis direction and the Y-axis direction, and a dynamometer; the driving device is installed above the water pool, each tugboat is provided with an automatic cable retractor and at least one pressure sensor, the dynamometer is fixed to the end of the cable on the automatic cable retractor, the dynamometer at the end of the cable on the automatic cable retractor is connected to the mooring bollard, at least one pressure sensor is located on the side of the tugboat facing the ship, and each tugboat is respectively installed on the driving device;

[0008] The controller, the driving device, the dynamometer, the pressure sensor and the automatic cable retractor are respectively connected to and controlled by the controller;

[0009] in,

[0010] When the tugboat approaches the ship, the driving device drives the tugboat to propel toward the ship, and the automatic cable retractor drives the cable to be automatically retracted and released to control the first change in the ship's posture. While the cable is kept taut, the dynamometer obtains the tugboat's pulling force data and transmits it to the controller.

[0011] When the tugboat is pushed to collide with the ship, the ship's position changes for the second time, and the pressure sensor on the tugboat collides with the side of the ship to obtain pressure data at the time of collision and transmit it to the controller;

[0012] When the tugboat collides with the ship during continuous movement and pushes the ship to the side of the pool by pushing the ship to continue moving, the ship's posture changes for the third time. The pressure sensor senses the thrust data between the tugboat and the ship, and the dynamometer senses the pulling force data of the tugboat using the cable to pull the ship, and transmits the pulling force data and the thrust data to the controller.

[0013] When the tugboat tows the ship, the ship's posture changes for the fourth time. The dynamometer senses the pulling force data of the tugboat using the cable to tow the ship, and transmits the pulling force data and the thrust data to the controller.

[0014] According to the above-mentioned port berthing assistance tugboat power test system, a posture sensor is installed on the ship, and a camera is installed on the side of the water tank to record the movement trajectory of the ship during the posture change process and transmit it to the controller.

[0015] According to the above-mentioned port berthing assistance tugboat power test system, the driving device includes an X-axis displacement driving mechanism and at least two Y-axis displacement driving mechanisms, each Y-axis displacement driving mechanism is installed on the moving part of the X-axis displacement driving mechanism, and each tugboat is respectively installed on the moving parts of at least two Y-axis displacement driving mechanisms.

[0016] According to the above-mentioned port berthing assistance tugboat power test system, two bearing seats arranged at intervals from each other are installed in the middle of each tugboat, and the two bearing seats are respectively located at the two ends of the X-axis line on the tugboat. An L-shaped rod is installed on the moving part of each Y-axis displacement drive mechanism, and the two ends of the transverse part of the L-shaped rod are respectively installed on the bearings of the two bearing seats.

[0017] According to the above-mentioned tugboat power test system for port berthing assistance operations, a plurality of first elastic fenders are installed on the side of the tugboat, and a pressure sensor is installed on at least one of the plurality of first elastic fenders.

[0018] According to the above-mentioned port berthing assistance tugboat power test system, a plurality of second elastic fenders are installed on the side of the ship.

[0019] According to the above-mentioned port berthing assistance tugboat power test system, the X-axis displacement drive mechanism includes two first displacement frames and two first screw rods, the two first displacement frames are respectively installed on the opposite side parts of the water pool, and each first screw rod is rotatably installed on the two first displacement frames. Each Y-axis displacement drive mechanism is respectively connected to at least two first sliders on the first screw rod, and one end of each first screw rod is respectively installed with a first driver that drives the first screw rod to rotate. The first driver includes a first motor or a hand crank. At least two first sliders on the first screw rod are provided with guide blocks, and each guide block is respectively installed in the elongated guide groove of the first displacement frame.

[0020] According to the above-mentioned port berthing assistance tugboat power test system, at least two Y-axis displacement drive mechanisms each include a second displacement frame and a second screw rod, each second displacement frame is respectively connected to at least two first sliders on the first screw rod, the second screw rod is rotatably mounted on the second displacement frame, and one end of each second screw rod is respectively installed with a second driver that drives the second screw rod to rotate, the second driver includes a second motor, and the longitudinal portion of each L-shaped rod respectively penetrates the elongated guide holes of at least two second displacement frames and is connected to the second sliders of at least two second screw rods.

[0021] According to the above-mentioned port berthing assistance tugboat power test system, the dynamometer adopts an annular dynamometer, and the annular dynamometer is sleeved on the mooring bollard of the ship; the pressure sensor is a thin film pressure sensor.

[0022] According to the above-mentioned port berthing assistance tugboat power test system, the sliders on at least two Y-axis displacement drive mechanisms are fixed with fixed sleeves, and the longitudinal portion of the L-shaped rod is inserted into the fixed sleeve, and the fixed sleeve is fixedly connected to the longitudinal portion of the L-shaped rod through a connecting piece, and the L-shaped rod always performs telescopic movement relative to the fixed sleeve.

[0023] The port berthing assistance tugboat power test system designed by the present invention has the following beneficial effects:

[0024] The driving devices are used to drive multiple tugboats to move independently to simulate the different working states of the tugboats. At the same time, the cables on the tugboats are connected to the ship through a dynamometer to test the pulling force of the tugboats. The tugboats and the ship collide with each other, and the pressure sensors between them are used to measure the impact force of the mutual collision and the thrust force during the collision and pushing, thereby achieving a true simulation of the towing process and meeting the testing needs of the tugboats for existing port operations in the research and development stage while ensuring true simulation. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a schematic diagram of the structure of the combination of the driving device, tugboat and ship (I);

[0026] Figure 2 It is a schematic diagram of the structure of the tugboat;

[0027] Figure 3 It is a schematic diagram of the structure of the combination of the driving device, tugboat and ship (II);

[0028] Figure 4 It is a schematic diagram of the ship's structure;

[0029] Figure 5 It is a schematic diagram of the structure of the combination of the water tank, driving device, tugboat and ship (I);

[0030] Figure 6 This is a schematic diagram of the structure of the combination of the water tank, driving device, tugboat and ship (II). DETAILED DESCRIPTION

[0031] The following will be combined with the accompanying 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 belong to the scope of protection of the present invention.

[0032] See also Figure 1-Figure 6The port berthing assistance tugboat power test system described in this embodiment includes a pool 1, a power test system, a controller, and at least one ship 4 located on the water surface of the pool 1. The pool has a specific water level, which can be adjusted according to the actual sea conditions corresponding to the test scenario. A wave and current generating device can be installed at the leftmost end of the pool to simulate the wave and current environment in the ocean. The controller can adopt a PLC controller. The inner cavity of the pool 1 contains water for testing, and a mooring bollard 41 is provided on the ship 4; the power The test system includes at least two tugboats 3 located on the surface of the pool 1, a driving device 2 for driving the tugboats 3 to translate in the X-axis direction and the Y-axis direction, and a dynamometer 321. The driving device 2 is installed above the pool 1. Each tugboat 3 is provided with an automatic cable retractor 32 and at least one pressure sensor 31. The automatic cable retractor 32 adopts a cable winch with a cable retracting roller. The dynamometer 321 is fixed to the end of the cable on the automatic cable retractor 32. The dynamometer 321 is fixed to the end of the cable on the automatic cable retractor 32. 1 is connected to the mooring post 41, at least one pressure sensor 31 is located on the side of the tugboat 3 facing the ship 4, and each tugboat 3 is installed on the driving device 2 respectively; the driving device 2, the dynamometer 321, the pressure sensor 31 and the automatic cable retractor 32 are respectively connected to the controller and controlled by it. In the selection of the cable, the rope with similar elastic modulus and strength requirements is selected according to the actual tugboat 3 environment, including but not limited to thin nylon rope; wherein, generally, the pressure sensor 31 is set as one and installed on the outer wall of the bow of the tugboat 3, that is, the bow of the tugboat 3 faces the ship 4, and the above-mentioned setting can be obtained according to the actual scale, so as to simulate the actual tugboat 3 under the corresponding scale conditions, and the dynamometer 321 adopts an annular dynamometer 321, and the annular dynamometer 321 is sleeved on the mooring post 41 of the ship 4; the pressure sensor 31 is a thin film pressure sensor, and the thin film pressure sensor adopts a flexible stress sheet, and the automatic cable retractor 32 is placed at the bow of the tugboat 3 to facilitate the tugboat 3 towing work.

[0033] When the tugboat 3 approaches the ship 4, the driving device 2 drives the tugboat 3 to propel in the direction of the ship 4, and the automatic cable retractor 32 drives the cable to be automatically retracted and released to control the first change in the position of the ship 4 (the process of deceleration, turning or retreating of the ship 4), and the dynamometer 321 obtains the towing force data of the tugboat 3 while the cable remains taut, and transmits it to the controller. Generally, the towing force data is detected when the ship 4 is towed and rotated or approaches too fast; when the tugboat 3 is pushed to collide with the ship 4, the position of the ship 4 changes for the second time (the process of acceleration and turning of the ship 4), and the pressure sensor 31 on the tugboat 3 collides with the side of the ship 4 to obtain the pressure data at the time of collision, and transmits it to the controller; when the tugboat 3 collides with the ship 4 during continuous movement, and pushes the ship 4 to continue to move and pushes the ship 4 to the side of the pool 1, the position of the ship 4 changes for the first time During the three changes (the process of the ship 4 moving at a constant speed), the pressure sensor 31 senses the thrust data between each tugboat 3 and the ship 4, and the dynamometer 321 senses the dragging data of the tugboat 3 using the cable to tow the ship 4, and transmits the dragging data and the thrust data to the controller. In addition, during the pushing process, the distance between the tugboat 3 and the ship 4 remains unchanged, and the length of the cable between the two remains unchanged, but the push and pull force of the tugboat will continue to transform, and the tugboat dragging state in this state is recorded by the annular dynamometer 321 on the mooring column 41, so as to analyze the experimental results later according to the dragging data and the thrust data; when the tugboat 3 tows the ship 4, the posture of the ship 4 changes for the fourth time (the process of the ship 4 decelerating), and the dynamometer 321 senses the dragging data of the tugboat 3 using the cable to tow the ship 4, and transmits the dragging data and the thrust data to the controller. Preferably, the measured data is transmitted to the computer through the controller for analysis.

[0034] Among them, in the above, only one tugboat 3 may be working or two tugboats 3 may be working at the same time, and the working power state of the tugboat 3 can be switched among full power, half power and low power, and intermittent motion can be performed; therefore, when realizing the simulated motion of the tugboat 3, we can also realize the real simulation of the towing process by adjusting the size and intermittence of the motor power.

[0035] Based on the above, two towing force test modes can be realized. Mode 1 is the mooring assistance towing mode. In this mode, the cable length is automatically adjusted by the winch to ensure that the cable is always in a taut state when the distance between the tugboat and the tugboat changes, especially to meet the change of the cable stress state when the tugboat switches between the two movement modes of pushing and towing, ensuring that the cable can be quickly tensioned to provide towing force.

[0036] Mode 2 is the long-duration towing mode, in which the tugboat tows the towed vessel 4 for a long unidirectional towing. At this time, the cable length and the towing force are fixed, and the two will not change frequently. In this mode, the motion state of the towed vessel 4 is measured in reverse.

[0037] In order to record the movement trajectory of the ship 4, a posture sensor is installed on the ship 4, and a camera is installed on the side of the pool 1 to record the movement trajectory of the ship 4 during the posture change process. At the same time, the movement trajectory of the tugboat, the fluctuation state of the water surface around the tugboat and the ship, and the real-time distance change between the ship and the dock can be recorded during the berthing process of the ship, and transmitted to the controller. When the tugboat 3 approaches the tugboat 3, the tugboat 3 collides with the tugboat 4, and the tugboat 3 pushes the tugboat 4 to the shore, there are relatively obvious posture changes in the three processes. By placing posture sensors, the trajectory of the tugboat 4 can be recorded, the data can be analyzed and processed, and its general rules can be found; and the camera can be used for video recording, visual analysis, and mutual verification with the posture sensor results to obtain more accurate test data.

[0038] In this embodiment, the driving device 2 includes an X-axis displacement driving mechanism 21 and at least two Y-axis displacement driving mechanisms 22. Each Y-axis displacement driving mechanism 22 is installed on the moving part of the X-axis displacement driving mechanism 21. Each tugboat 3 is respectively installed on the moving parts of at least two Y-axis displacement driving mechanisms 22. The X-axis displacement driving mechanism 21 drives and controls at least two Y-axis displacement driving mechanisms 22 to perform translational motion on the X-axis. The two Y-axis displacement driving mechanisms 22 respectively drive the tugboats 3 at corresponding positions to perform translational motion, thereby realizing the tugboat 3 approaching the ship 4 or moving away from the ship 4, and further realizing the test of the berthing assistance operation.

[0039] In the present embodiment, two bearing seats 33 spaced apart from each other are installed in the middle of each tugboat 3, and the two bearing seats 33 are respectively located at the two ends of the X-axis line in the middle of the tugboat 3, and an L-shaped rod 5 is installed on the moving part of each Y-axis displacement driving mechanism 22, and the two ends of the transverse part of the L-shaped rod 5 are respectively installed on the bearings of the two bearing seats 33. The L-shaped rod 5 cooperates with the bearing seats 33, and the tugboat 3 can rotate with the L-shaped rod 5 under the influence of waves, and constrain the tugboat 3 to move relative to the driving device 2 along the longitudinal towing or pushing or wave direction, and constrain the tugboat 3 to move relative to the driving device 2 laterally, which can more realistically simulate the movement state of the tugboat 3 under the test environment.

[0040] In this embodiment, a plurality of first elastic fenders 34 are installed on the side of the tugboat 3, and a pressure sensor 31 is installed on at least one of the plurality of first elastic fenders 34, and a plurality of second elastic fenders 42 are installed on the side of the ship 4; the number of the first elastic fenders 34 and the second elastic fenders 42 can be set according to actual conditions, the first elastic fender 34 on the tugboat 3 is arranged on the outer wall of the bow, and the second elastic fender 42 on the ship 4 is generally arranged on the side of the middle part of the hull, the first elastic fender 34 and the second elastic fender 42 are generally made of rubber material, and the fenders are arranged to protect the hull and avoid damage to the hull caused by hard collision.

[0041] In this embodiment, the X-axis displacement drive mechanism 21 includes two first displacement frames 211 and two first screw rods 212. The two first displacement frames 211 are respectively installed on the opposite side parts of the pool 1. Each first screw rod 212 is rotatably installed on the two first displacement frames 211. Each Y-axis displacement drive mechanism 22 is respectively connected to at least two first sliders 213 on the first screw rod 212. One end of each first screw rod 212 is respectively installed with a first driver that drives the first screw rod 212 to rotate. The first driver includes a first motor or a hand crank. At least two first sliders 213 on the first screw rod 212 are provided with guide blocks, and each guide block is respectively installed in the elongated guide groove 214 of the first displacement frame 211. Preferably, the first driver adopts a motor, which can be a servo motor or a stepper motor. The servo motor or the stepper motor is connected to and controlled by the controller, so as to realize driving each Y-axis displacement drive mechanism 22 to move on the X-axis in different modes according to the program setting of the controller.

[0042] In this embodiment, at least two Y-axis displacement drive mechanisms 22 each include a second displacement frame 221 and a second screw rod 222, each second displacement frame 221 is respectively connected to at least two first sliders 213 on the first screw rod 212, the second screw rod 222 is rotatably mounted on the second displacement frame 221, and one end of each second screw rod 222 is respectively mounted with a second driver that drives the second screw rod 222 to rotate, the second driver includes a second motor, and the longitudinal portion of each L-shaped rod 5 respectively passes through the elongated guide holes 224 of at least two second displacement frames 221 and is connected to the second sliders 223 of at least two second screw rods 222; preferably, the second driver uses a motor 220, and the motor can be a servo motor or a stepper motor, which is connected to and controlled by the controller, so as to achieve driving each tugboat 3 to move on the Y axis in different modes according to the program setting of the controller, and cooperate with the X-axis displacement movement to achieve different modes of mooring assistance tests.

[0043] For example, when a single tugboat 3 is working, only one motor on the Y-axis is in working state, and the pushing and pulling working states of the tugboat 3 are realized by the forward and reverse rotation of the motor, thereby realizing the position adjustment and mooring assistance of the ship 4; when the double tugboats 3 are working, the double motors on the Y-axis start to work, and the four working states of the double tugboats, namely, pushing and pulling at the same time, one towing and one pulling, and one pulling and one towing, are realized by the forward and reverse rotation of the motors respectively, thereby realizing the position adjustment and mooring assistance of the ship 4; wherein the motor rotates to drive the screw to rotate, further achieving the translational motion of the slider on the screw, thereby driving the corresponding device to translate.

[0044] Preferably, at least two sliders on the Y-axis displacement driving mechanisms 22 are fixed with a fixing sleeve 6, and the longitudinal portion of the L-shaped rod 5 is inserted into the fixing sleeve 6, and the fixing sleeve 6 and the longitudinal portion of the L-shaped rod 5 are nested and connected through a connecting piece, and through the ball bearing installed inside the fixing sleeve 6, the L-shaped rod 5 always makes telescopic movement relative to the fixing sleeve 6, and the tugboat can float in a direction perpendicular to the water surface. The L-shaped rod 5 cooperates with the bearing seat 33, and the tugboat 3 can rotate with the L-shaped rod 5 under the influence of waves, so that the tugboat 3 model can move in two degrees of freedom. The fixing sleeve 6 and the L-shaped rod 5 are made of plastic material, generally PVC material, which is rust-proof and light.

[0045] This embodiment realizes the whole process from the tugboat 3 approaching the vessel 4 to pushing the vessel 4 to the shore, and the tugboat 3 can simulate it realistically and record the tugboat's towing and pulling state and value to conduct a comprehensive test analysis and obtain more accurate test results. Of course, the vessel 4 mentioned above can also be other offshore equipment platforms, such as buoys, aquaculture cages, etc.

[0046] The present invention is not limited to the above-mentioned optimal implementation mode. Anyone can derive other various forms of products under the inspiration of the present invention. However, no matter what changes are made in the shape or structure, any technical solution that is the same or similar to that of the present application will fall within the protection scope of the present invention.

Claims

1. A tugboat power test system for port berthing assistance operations, characterized in that: include: A water pool (1) capable of generating wave flow, used to contain water used for testing; At least one ship (4) located on the water surface of the pool (1), with a mooring bollard (41) provided on the ship (4); A power test system, comprising at least two tugboats (3) located on the water surface of a pool (1), a driving device (2) for driving the tugboats (3) to translate in the X-axis direction and the Y-axis direction, and a dynamometer (321), wherein the driving device (2) is installed above the pool (1), each tugboat (3) is provided with an automatic cable retractor (32) and at least one pressure sensor (31), the dynamometer (321) is fixed to the end of the cable on the automatic cable retractor (32), the dynamometer (321) at the end of the cable on the automatic cable retractor (32) is connected to a mooring post (41), at least one pressure sensor (31) is located on a side of the tugboat (3) facing the ship (4), and each tugboat (3) is respectively installed on the driving device (2); The controller, the driving device (2), the dynamometer (321), the pressure sensor (31) and the automatic cable retractor (32) are respectively connected to the controller and controlled by the controller; A posture sensor is installed on the ship (4), and a camera is arranged on the side of the pool (1) to record the movement trajectory of the ship (4) during the posture change process and transmit it to the controller; in, When the tugboat (3) approaches the ship (4), the driving device (2) drives the tugboat (3) to propel in the direction of the ship (4), and the automatic cable retractor (32) drives the cable to be automatically retracted and released to control the first change in the position of the ship (4). While the cable is kept in a taut state, the dynamometer (321) obtains the traction force data of the tugboat (3) and transmits it to the controller; When the tugboat (3) is pushed until it collides with the ship (4), the position of the ship (4) changes for the second time, and the pressure sensor (31) on the tugboat (3) collides with the side of the ship (4) to obtain pressure data at the time of collision, and transmits it to the controller; When the tugboat (3) collides with the ship (4) during continuous movement, and pushes the ship (4) to the side of the pool (1) by pushing the ship (4) to continue moving, the position of the ship (4) changes for the third time, the pressure sensor (31) senses the thrust data between each tugboat (3) and the ship (4), the dynamometer (321) senses the pulling force data of the tugboat (3) pulling the ship (4) with the cable, and transmits the pulling force data and the thrust data to the controller; When the tugboat (3) tows the ship (4), the position of the ship (4) changes for the fourth time, and the dynamometer (321) senses the pulling force data of the tugboat (3) towing the ship (4) using the cable, and transmits the pulling force data and the thrust force data to the controller.

2. The port berthing assistance tugboat power test system according to claim 1 is characterized in that: The driving device (2) comprises an X-axis displacement driving mechanism (21) and at least two Y-axis displacement driving mechanisms (22), each Y-axis displacement driving mechanism (22) being mounted on a moving part of the X-axis displacement driving mechanism (21), and each tugboat (3) being mounted on a moving part of the at least two Y-axis displacement driving mechanisms (22).

3. The port berthing assistance tugboat power test system according to claim 2 is characterized in that: Two bearing seats (33) spaced apart from each other are installed in the middle of each tugboat (3), the two bearing seats (33) are respectively located at two ends of the X-axis line on the tugboat (3), and a L-shaped rod (5) is installed on the moving part of each Y-axis displacement driving mechanism (22), and the two ends of the transverse part of the L-shaped rod (5) are respectively installed on the bearings of the two bearing seats (33).

4. The port berthing assistance tugboat power test system according to claim 2 is characterized in that: A plurality of first elastic fenders (34) are installed on the side of the tugboat (3), and a pressure sensor (31) is installed on at least one of the plurality of first elastic fenders (34).

5. The port berthing assistance tugboat power test system according to claim 2, characterized in that: A plurality of second elastic fenders (42) are installed on the side of the ship (4).

6. The port berthing assistance tugboat power test system according to claim 3 is characterized in that: The X-axis displacement drive mechanism (21) comprises two first displacement frames (211) and two first screw rods (212), the two first displacement frames (211) being respectively mounted on opposite sides of the pool (1), each first screw rod (212) being rotatably mounted on the two first displacement frames (211), each Y-axis displacement drive mechanism (22) being respectively connected to at least two first sliders (213) on the first screw rod (212), one end of each first screw rod (212) being respectively mounted with a first driver for driving the first screw rod (212) to rotate, the first driver comprising a first motor or a hand crank, at least two first sliders (213) on the first screw rod (212) being provided with guide blocks, and each guide block being respectively mounted in an elongated guide groove (214) of the first displacement frame (211).

7. The port berthing assistance tugboat power test system according to claim 6 is characterized in that: At least two Y-axis displacement drive mechanisms (22) each comprise a second displacement frame (221) and a second screw rod (222); each second displacement frame (221) is respectively connected to at least two first sliders (213) on the first screw rod (212); the second screw rod (222) is rotatably mounted on the second displacement frame (221); a second driver for driving the second screw rod (222) to rotate is respectively mounted at one end of each second screw rod (222); the second driver comprises a second motor; and the longitudinal portion of each L-shaped rod (5) respectively passes through the elongated guide holes (224) of the at least two second displacement frames (221) and is then connected to the second sliders (223) of the at least two second screw rods (222).

8. The port berthing assistance tugboat power test system according to any one of claims 1 to 7, characterized in that: The dynamometer (321) is an annular dynamometer (321), and the annular dynamometer (321) is sleeved on a mooring post (41) of the ship (4); and the pressure sensor (31) is a thin film pressure sensor.

9. The port berthing assistance tugboat power test system according to claim 3, characterized in that: The sliders on at least two Y-axis displacement drive mechanisms (22) are both fixed with a fixing sleeve (6), and the longitudinal portion of the L-shaped rod (5) is inserted into the fixing sleeve (6), and the fixing sleeve (6) is connected to the longitudinal portion of the L-shaped rod (5) via a connecting piece, and the L-shaped rod (5) always performs telescopic movement relative to the fixing sleeve (6).

Images