Transfer barge for dynamic joint control propulsion with ship-pushing propeller and control method of transfer barge for dynamic joint control propulsion with ship-pushing propeller

Abstract

The transshipment barge comprises a ship, a base station and the push ship, the ship is provided with a first unmanned control system, the push ship is provided with a second unmanned control system, and the push ship and the ship are each provided with a kinetic energy recovery system. The base station is used for realizing radio signal connection between the first unmanned control system and the second unmanned control system; the first unmanned control system comprises a self attitude sensing unit, a marine environment monitoring unit, a control terminal and an execution unit, and data detected by the self attitude sensing unit, the marine environment monitoring unit, the control terminal and the execution unit of the first unmanned control system and the second unmanned control system can be interacted efficiently in real time through a base station. Basic guarantee is provided for linkage control, and then efficient and accurate control over the push ship and the barge is achieved through mutual data interaction of control modules of the first unmanned control system and the second unmanned control system.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent mooring control, and in particular to a transfer barge that is dynamically propelled by a pusher propeller and a control method thereof. Background Art

[0002] In the field of ocean transportation, transshipment barge transport is an important mode of transport. With the continuous growth of global trade, higher requirements are being placed on the efficiency, safety, and environmental protection of transshipment barge transport. Traditional pusher-barge propulsion methods suffer from poor synergy, insufficient adaptability to the marine environment, and energy waste.

[0003] In actual operations, pusher boats and barges are often controlled independently, lacking effective information exchange and coordinated control mechanisms. This makes it difficult to achieve optimal propulsion in complex marine environments, such as varying currents, wind, and wave conditions. This not only affects sailing speed but also increases fuel consumption and operating costs. Furthermore, the lack of precise status monitoring and intelligent control poses certain risks to the stability and safety of transfer barges during navigation.

[0004] At the same time, energy issues are becoming a growing concern. During operation, transfer barges generate a certain amount of recoverable energy, especially during deceleration, braking, and the operation of some equipment. However, traditional transfer barge systems fail to effectively utilize this energy, resulting in energy waste and environmental pressure.

[0005] In order to solve these problems, the present invention develops a system that can realize the intelligent dynamic joint control propulsion of the pusher and the barge, and effectively recover and utilize energy, which is of great significance for improving the overall performance of transshipment barge transportation, reducing operating costs and achieving sustainable development.

[0006] At present, there are few solutions that can realize the joint intelligent dynamic joint control of barges and push boats during long-distance voyages. Relatively speaking, the application of local intelligent joint control technology in berthing and unberthing is relatively close. For example, the practice of installing sensors to accurately control the position of the barge during berthing reflects the idea of ​​intelligent joint control to a certain extent. However, this type of solution is only limited to joint control in a specific short period of time and specific operating scenarios. It is essentially different from the system involved in the present invention, which can dynamically adjust the propulsion force, heading, attitude and other aspects of joint control according to the external ocean environment and the status of the barge and push boat itself during the entire long-distance voyage. It cannot solve a series of core technical problems faced by traditional transfer barges during long-distance voyages, such as energy waste and low navigation efficiency.

[0007] Traditional pusher and barge propulsion systems have obvious deficiencies in coordinated control and environmental adaptability, and cannot meet the requirements of modern marine transportation for efficient and safe barge linkage control.

[0008] In summary, existing technologies suffer from the following shortcomings: 1. Insufficient coordinated control: Existing transfer barges are highly independent of each other, and the pusher and barge control systems lack effective data exchange and coordination. The control terminal struggles to comprehensively consider the barge's status and the ocean environment, resulting in irrational propulsion strategies and an inability to fully leverage the synergy between the pusher and barge thrusters, impacting navigation efficiency and maneuverability.

[0009] 2. Inaccurate strategy formulation: When formulating propulsion strategies, responses to changes in the barge's status and the ocean environment are untimely and inaccurate. Lack of comprehensive assessment of the barge's stability, propulsion efficiency, and force conditions. The inability to dynamically adjust propulsion force, heading, and attitude based on load, currents, wind, and other factors results in poor safety and stability in complex navigation environments. Summary of the Invention

[0010] The purpose of the present invention is to provide a transfer barge that is dynamically controlled and propelled by a pusher propeller and a control method thereof, so as to solve the problems existing in the above-mentioned prior art.

[0011] The above technical objectives of the present invention are achieved through the following technical solutions: A transfer barge dynamically linked to a pusher propeller for propulsion comprises a barge, a base station, and a pusher. The barge is provided with a first unmanned control system, the pusher is provided with a second unmanned control system, and both the pusher and the barge are provided with a kinetic energy recovery system. The base station is used to achieve a radio signal connection between the first unmanned control system and the second unmanned control system. The first unmanned control system and the second unmanned control system have the same composition. The first unmanned control system includes a self-posture perception unit, a marine environment monitoring unit, a control terminal and an execution unit. The self-posture perception unit, the marine environment monitoring unit and the execution unit are all electrically connected to the control terminal. The execution unit is used to execute the instructions of the control terminal, the self-posture perception unit is used to perceive its own posture information, and the marine environment monitoring unit is used to monitor the marine environment.

[0012] By adopting the above technical solution, the data detected by the posture perception unit, marine environment monitoring unit, control terminal and execution unit of the first unmanned control system and the second unmanned control system can be interacted in real time and efficiently through the base station, providing a basic guarantee for linkage control. Then, the control modules of the first unmanned control system and the second unmanned control system exchange data with each other to achieve efficient and accurate control of the pusher boat and barge.

[0013] In a further embodiment, a joint control calculation module is embedded in the control terminal, and the control terminal is used to perform joint calculations based on data provided by the posture perception unit and the marine environment monitoring unit of the first unmanned control system and the second unmanned control system.

[0014] In a further embodiment, the self-attitude perception unit includes a motion data detection module, a load data detection module, a compass data detection module, a satellite positioning data detection module and a hull attitude sensor, the motion data detection module is used to detect the test speed, the load data detection module is used to detect the total load, the compass data detection module is used to detect navigation, the satellite positioning data detection module is used to detect longitude and latitude data, and the hull attitude sensor is used to detect the hull inclination angle.

[0015] In a further embodiment, the marine environment monitoring unit includes a water flow sensor, an ocean current sensor, a wind speed and force sensor, and a wave height sensor. The water flow sensor is used to detect the wake velocity, the ocean current sensor is used to detect the direction and speed of the ocean current, the wind speed and force sensor is used to detect the sea surface wind speed and direction, and the wave height sensor is used to detect the wave height.

[0016] In a further embodiment, the execution unit includes a plurality of propulsion devices and a data acquisition module, and the data acquisition module is used to collect feedback data of the plurality of propulsion devices.

[0017] The present invention also provides a control method for a transfer barge that is dynamically controlled and propelled by a pusher propeller, comprising the following steps: Step S1: Arrange sensors for collecting data of the first unmanned control system and the second unmanned control system on the barge and the pusher to collect motion data of the barge and the pusher; Step S2: Sharing the data of the barge and the pusher boat through the base station; Step S3: formulate and execute the control strategy for the barge and pusher boat; Step S4: Check whether the execution of the barge and the pusher is correct. If it is correct, continue to execute. If not, re-formulate the control strategy.

[0018] In a further embodiment, step S3 further includes the following steps: Step S31: The pusher control terminal reads the received initial data and generates an initial joint control strategy in combination with the built-in joint control calculation module; Step S32: The pusher sends the joint control strategy to the barge for review, and determines whether the execution unit of the barge is within the initial joint control strategy parameters. If so, it is executed; if not, the parameters that can be executed by the execution unit of the barge are sent to the pusher for recalculation.

[0019] In a further embodiment, step S3 further comprises the following steps: Generate a kinetic energy recovery unit recovery strategy. When the barge is decelerating and braking, the propeller motor will change from the original power output state to the energy recovery state. The generated electrical energy is transmitted to the energy recovery device through the relevant circuit. The energy recovery device collects and preliminarily processes the recovered energy, and stabilizes and rectifies the unstable electrical energy.

[0020] In summary, the present invention has the following beneficial effects: 1. By splitting the first and second unmanned control systems into a configuration consisting of multiple data acquisition modules, an integrated system architecture can be constructed. By controlling data interaction between terminals, combined with sensor measurements and marine environment monitoring data, the optimal propulsion strategy for the pusher boat and barge can be accurately calculated, enabling close coordination between the actuators, improving the coordinated control performance of the transfer barge system, and achieving efficient joint propulsion.

[0021] 2. Dynamically Adjust Optimized Strategies: Utilizing intelligent integrated control algorithms, comprehensive data collection and processing allows for accurate assessment of the barge's status and environmental impact, formulating a sophisticated integrated control strategy encompassing propulsion force distribution, course adjustment, and attitude control. Dynamic adjustments are made based on real-time feedback to ensure the barge's safe, stable, and efficient navigation in complex and changing marine environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a system block diagram of a transfer barge that is dynamically controlled and propelled by a pusher propeller according to the present invention; Figure 2 This is a structural block diagram of a kinetic energy recovery system for a transfer barge that is dynamically controlled and propelled by a pusher propeller according to the present invention; Figure 3 The present invention is a control strategy flow chart of a control method for a transfer barge that is dynamically controlled and propelled by a pusher propeller. DETAILED DESCRIPTION

[0023] The present invention is further described in detail below with reference to the accompanying drawings.

[0024] The same parts are denoted by the same reference numerals. It should be noted that the words "front", "rear", "left", "right", "upper" and "lower" used in the following description refer to the attached Figure 1In the description, the terms "bottom" and "top," "inner" and "outer" refer to directions toward or away from a particular component geometry, respectively. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of technical features indicated. Thus, features defined as "first" or "second" may explicitly or implicitly include one or more of the features. Throughout the description of this specification, "plurality" means two or more, unless the direction of the center is explicitly and specifically defined otherwise.

[0025] Example 1: Figure 1-Figure 2 As shown, a transfer barge that is dynamically controlled and propelled by a pusher propeller includes a barge, a base station, and a pusher. The barge is provided with a first unmanned control system, the pusher is provided with a second unmanned control system, and both the pusher and the barge are provided with a kinetic energy recovery system. The base station is used to achieve a radio signal connection between the first unmanned control system and the second unmanned control system. The first unmanned control system and the second unmanned control system have the same composition. The first unmanned control system includes a self-attitude sensing unit, a marine environment monitoring unit, a control terminal, and an execution unit. The self-attitude sensing unit, the marine environment monitoring unit, and the execution unit are all electrically connected to the control terminal. The execution unit is used to execute instructions from the control terminal. The self-attitude sensing unit is used to sense its own attitude information. The marine environment monitoring unit is used to monitor the marine environment. A joint control calculation module is embedded in the control terminal. The control terminal is used to perform joint calculations based on data provided by the self-attitude sensing unit and the marine environment monitoring unit both of the first unmanned control system and the second unmanned control system. The self-attitude perception unit includes a motion data detection module, a load data detection module, a compass data detection module, a satellite positioning data detection module and a hull attitude sensor, wherein the motion data detection module is used to detect the test speed, the load data detection module is used to detect the total load, the compass data detection module is used to detect the navigation, the satellite positioning data detection module is used to detect the longitude and latitude data, and the hull attitude sensor is used to detect the hull inclination angle; the marine environment monitoring unit includes a water flow sensor, an ocean current sensor, a wind speed and wind force sensor and a wave height sensor, wherein the water flow sensor is used to detect the wake velocity, the ocean current sensor is used to detect the direction and speed of the ocean current, the wind speed and wind force sensor is used to detect the sea surface wind speed and wind direction, and the wave height sensor is used to detect the wave height; the execution unit includes multiple propulsion devices and a data acquisition module, and the data acquisition module is used to collect feedback data from multiple propulsion devices.

[0026] like Figure 3As shown, the present invention also provides a control method for a transfer barge that is dynamically controlled and propelled by a pusher propeller, comprising the following steps: Step S1: Arrange sensors for collecting data of the first unmanned control system and the second unmanned control system on the barge and the pusher to collect motion data of the barge and the pusher; Step S2: Sharing the data of the barge and the pusher boat through the base station; Step S3, formulate and execute the control strategy of the barge and the pusher boat, step S3 further includes the following steps: step S31, the pusher boat control terminal reads the received initial data, combines the built-in joint control calculation module, and generates the initial joint control strategy; step S32, the pusher boat sends the joint control strategy to the barge for review, and determines whether the execution unit of the barge is within the initial joint control strategy parameters. If so, it is executed; if not, the executable parameters of the execution unit of the barge are sent to the pusher boat for recalculation, said step S3 further includes the following steps: generating a kinetic energy recovery unit recovery strategy, when the barge is in the process of deceleration and braking, the propeller motor will change from the original power output state to the energy recovery state, and the generated electric energy will be transmitted to the energy recovery device through the relevant circuit, the energy recovery device collects and preliminarily processes the recovered energy, and stabilizes and rectifies the unstable electric energy; Step S4: Check whether the execution of the barge and the pusher is correct. If it is correct, continue to execute. If not, re-formulate the control strategy.

[0027] Example 2: Figure 1-3 As shown, when the pusher boat has just completed the complete docking with the barge and no instructions have been issued or executed, all systems are in the initial state monitoring: when the system starts, the attitude perception unit, marine environment monitoring unit and execution unit of the first unmanned control system and the second unmanned control system respectively measure the initial states of the pusher boat and the barge. The motion data detection module, load data detection module, compass data detection module, satellite positioning data detection module and hull attitude sensor in the pusher boat system start working at the same time to collect the initial position, attitude and initial state data of the pusher boat. Similarly, the barge motion data detection module, load data detection module and hull attitude sensor start working at the same time to collect the initial position, attitude and initial state data of the thruster. The initial state data of the barge are collected by the detection module, compass data detection module, satellite positioning data detection module and hull attitude sensor. The water flow sensor, ocean current sensor, wind speed and force sensor and wave height sensor in the marine environment monitoring unit also start working to monitor the wave height, current speed and direction, wind force and direction, and start to obtain the current environmental data. These data are transmitted to the pusher control terminal and the barge control terminal through their respective data transmission lines and the cooperation of the base station. The control terminal stores the received data in the internal storage module (such as random access memory RAM) as the initial basis for generating the subsequent joint control strategy.

[0028] Then the joint control strategy is generated. The pusher control terminal reads the initial data received from the storage module and generates the initial joint control strategy in combination with the built-in intelligent joint control algorithm program. The pusher control terminal sends the joint control strategy to the barge control terminal through the data bus and the base station for negotiation and confirmation. During the negotiation process, the barge control terminal evaluates the strategy based on its own status and capabilities. If it is found that the strategy is unreasonable (such as the barge actuator cannot meet the propulsion requirements), it will be fed back to the pusher control terminal through the data bus and the base station. The pusher control terminal recalculates the strategy until both parties reach an agreement.

[0029] After reaching an agreement, both the pusher and the barge need to implement the formulated strategy. After the barge control terminal confirms the joint control strategy, the pusher control terminal and the barge control terminal respectively send control instructions to their respective actuators. The pusher control terminal sends the control instructions of the pusher actuator to the electric servo drive system and generator control system of the pusher propeller through the communication link, drives the propeller to adjust the propulsion direction and force, and the generator adjusts the output power. The barge control terminal sends the control instructions of the barge actuator to the barge propeller and related power equipment through the PLC, starts the barge propeller and adjusts its working status. The pusher and barge actuators begin to work together according to the instructions to push the barge forward.

[0030] During the execution process, the pusher boat and barge need to be monitored and adjusted in real time. During the navigation of the barge, the sensor measurement system and the marine environment monitoring unit continuously monitor the data. The sensor measurement system collects the status data of the barge at a fixed frequency, and the marine environment monitoring unit obtains the changes in environmental data in real time. When the barge status (such as ship position, ship attitude, propeller status) or external environment (such as waves, currents, wind force) is detected to have changed, the pusher boat control terminal recalculates the joint control strategy. For example, when the current speed suddenly increases, the pusher boat control terminal reallocates the propulsion force of the pusher boat and the barge according to the new current data and the current status of the barge, and sends the new strategy to the barge control terminal and the actuator through the data bus and the base station for adjustment. The actuator adjusts the working status according to the new strategy, and repeats the above monitoring and adjustment process until the barge reaches its destination.

[0031] This intelligent joint control propulsion system can improve the operational stability and operating efficiency of the transfer barge in complex marine environments, ensuring that the pusher boat and barge can achieve efficient transfer operations under the joint control mechanism.

[0032] Because both the pusher and barge are equipped with energy systems, energy recovery and utilization must be considered during the implementation of the strategy. Energy recovery includes: when the barge is decelerating or braking, the propeller motor will switch from the original power output state to the energy recovery state. The generated electrical energy is transmitted to the energy recovery device through the relevant circuit. The energy recovery device collects and initially processes this electrical energy, performing preliminary voltage stabilization and rectification on the unstable electrical energy. During the operation of the barge, other components that may generate excess energy (such as the residual kinetic energy of some auxiliary power equipment after operation) can also be recovered through corresponding energy recovery devices. These energy recovery devices will convert the collected energy into electrical energy.

[0033] Energy recovery is inseparable from energy storage. The energy storage device uses a high-performance lithium-ion battery pack. The lithium-ion battery pack has a high energy density and is suitable for long-term storage of electrical energy. The energy storage device is equipped with a battery management system (BMS). The BMS is responsible for monitoring the battery's voltage, current, temperature and other parameters to prevent the battery from overcharging, over-discharging and overheating. When the energy recovery device has power output, the BMS controls the charging process according to the battery status to ensure that the electrical energy is safely and efficiently stored in the energy storage device. At the same time, the BMS can also control the energy storage device to quickly release electrical energy when needed.

[0034] In the present invention, energy can be utilized in the following ways: when other electrical equipment on the barge (such as lighting systems, communication equipment, control systems, etc.) requires electric energy, the electric energy stored in the energy storage device is distributed through the power distribution system. The power distribution system distributes electric energy according to the priority and actual needs of each electrical equipment. In the power distribution system, the priority of each electrical equipment is preset. For example, for the key control system of the barge (such as the control terminal of the joint control system), it is set to the highest priority to ensure its uninterrupted power supply; for some non-critical auxiliary equipment (such as household electrical equipment), when the power supply is tight, its power supply is appropriately reduced according to the preset strategy. The power distribution system monitors the power consumption status of each electrical equipment and the power of the energy storage device in real time, and takes appropriate measures. An optimized power distribution algorithm is used to achieve reasonable distribution and efficient utilization of electrical energy; the energy management system (EMS) continuously monitors the working status and energy flow of generator sets, energy storage devices and renewable energy. The EMS dynamically adjusts the energy distribution strategy and recovery plan according to current navigation needs, energy storage conditions and the availability of renewable energy to ensure efficient operation of each component and maximum energy utilization. In the field of modern shipping, energy management and recovery systems are becoming key technologies in barge operations; through such an advanced energy management and recovery system, the invention can achieve efficient and circular utilization of energy, reduce dependence on traditional energy, while reducing operating costs, improving economic and environmental benefits, and achieving a more environmentally friendly and economical barge operation mode.

[0035] Therefore, the present invention has the following advantages: 1. Strong synergy in the system architecture: The present invention has constructed a complete and highly coordinated transshipment barge system architecture. The pusher boat and the barge control terminal in the control terminal have clear division of labor and close cooperation. The pusher boat control terminal integrates multi-party data to calculate the optimal propulsion strategy, and the barge control terminal monitors the barge status and executes the strategy. The actuators cooperate precisely under the command of the control terminal to achieve propulsion and attitude adjustment. The sensor measurement system monitors the barge status in all directions and in real time, and the marine environment monitoring unit provides key environmental data. The data exchange between each part is smooth. Compared with the traditional system where each part operates independently and has poor coordination, the present invention can achieve more efficient and intelligent joint control, greatly improving the overall performance of the system.

[0036] 2. Intelligent and precise joint control algorithm: The intelligent joint control algorithm is a core advantage. Comprehensive data collection and preprocessing ensure accurate and usable data. In-depth status assessment and analysis provide a comprehensive understanding of the barge's status and environmental impacts. The formulated joint control strategy comprehensively considers key factors such as propulsion force distribution, course adjustment, and attitude control, and can automatically optimize propulsion force and course according to different load, current, wind conditions, and other conditions. Furthermore, the real-time feedback adjustment mechanism enables timely strategy optimization based on execution feedback. Compared with traditional fixed strategy control methods, it can more accurately respond to complex marine environments and barge operating conditions, greatly improving the safety and reliability of barge navigation.

[0037] 3. Efficient energy recovery and utilization: This innovative system integrates energy recovery, storage, and utilization. Excess energy generated by the barge's deceleration, braking, and other components is converted into electricity and stored in an energy storage device after processing. When the barge's electrical equipment needs electricity, it can be allocated on demand based on equipment priority and actual needs, prioritizing critical equipment. This process effectively reduces energy waste, improves energy efficiency, lowers operating costs, and minimizes environmental impact, achieving a win-win situation for both environmental protection and the economy. This aligns with the trend of green development and offers significant advantages not found in existing technologies.

[0038] Example 3: In actual use, the intelligent joint control algorithm in the intelligent joint control module of the present invention includes the following calculation steps: The distance the bow and stern need to move is measured through the satellite positioning data detection module, and the distance the bow needs to move is recorded as L1, and the distance the stern needs to move is recorded as L2. The real-time bow resistance is recorded as F1, and the stern resistance is recorded as F2. F1 and F2 are both obtained through real-time measurement data from the attitude sensing unit and the ocean environment monitoring unit. Generally, thruster No. 1 is set at the bow and thruster No. 2 is set at the stern. The total output power of thruster No. 1 is set to W1, and the total output power of thruster No. 2 is set to W2. W1 is distributed by thruster No. 1 at the bow of the pusher boat and the barge, and W2 is distributed by thruster No. 2 at the stern of the pusher boat and the barge. Intelligent joint control can be realized, and the control strategy is to adjust the distribution ratio of W1 and W2 according to the data.

[0039] In the embodiments disclosed herein, terms such as "installed," "connected," "connected," and "fixed" should be understood broadly. For example, "connected" may refer to a fixed connection, a detachable connection, or an integral connection; and "connected" may refer to a direct connection or an indirect connection via an intermediary. Those skilled in the art will understand the specific meanings of the above terms in the embodiments disclosed herein based on specific circumstances.

[0040] This specific embodiment is merely an explanation of the present invention and is not intended to limit the present invention. After reading this specification, those skilled in the art may make non-creative modifications to this embodiment as needed. However, as long as such modifications are within the scope of the claims of the present invention, they are protected by patent law.

Claims

1. A transfer barge dynamically controlled and propelled by a pusher propeller, comprising a ship, a base station, and a pusher, characterized in that: The ship is provided with a first unmanned control system, the pusher is provided with a second unmanned control system, and both the pusher and the ship are provided with a kinetic energy recovery system, the base station is used to achieve a radio signal connection between the first unmanned control system and the second unmanned control system, and the first unmanned control system and the second unmanned control system have the same composition; The first unmanned control system includes a self-posture perception unit, a marine environment monitoring unit, a control terminal and an execution unit. The self-posture perception unit, the marine environment monitoring unit and the execution unit are all electrically connected to the control terminal. The execution unit is used to execute the instructions of the control terminal, the self-posture perception unit is used to perceive its own posture information, and the marine environment monitoring unit is used to monitor the marine environment.

2. The transfer barge dynamically controlled and propelled by a pusher propeller according to claim 1 is characterized in that: A joint control calculation module is embedded in the control terminal, and the control terminal is used to perform joint calculations based on data provided by the posture perception unit and the marine environment monitoring unit of the first unmanned control system and the second unmanned control system.

3. The transfer barge dynamically controlled and propelled by a pusher propeller according to claim 1 is characterized in that: The self-attitude perception unit includes a motion data detection module, a load data detection module, a compass data detection module, a satellite positioning data detection module and a hull attitude sensor. The motion data detection module is used to detect the test speed, the load data detection module is used to detect the total load, the compass data detection module is used to detect navigation, the satellite positioning data detection module is used to detect longitude and latitude data, and the hull attitude sensor is used to detect the hull inclination angle.

4. The transfer barge dynamically controlled and propelled by a pusher propeller according to claim 1 is characterized in that: The marine environment monitoring unit includes a water flow sensor, an ocean current sensor, a wind speed and force sensor, and a wave height sensor. The water flow sensor is used to detect the wake velocity, the ocean current sensor is used to detect the direction and speed of the ocean current, the wind speed and force sensor is used to detect the sea surface wind speed and direction, and the wave height sensor is used to detect the wave height.

5. The transfer barge dynamically controlled and propelled by a pusher propeller according to claim 1 is characterized in that: The execution unit comprises a plurality of propulsion devices and a data acquisition module, and the data acquisition module is used to collect feedback data of the plurality of propulsion devices.

6. A control method for a transfer barge dynamically linked with a pusher propeller according to any one of claims 1 to 5, characterized in that: The following steps are involved: Step S1: Arrange sensors for collecting data of the first unmanned control system and the second unmanned control system on the ship and the pusher boat to collect motion data of the ship and the pusher boat; Step S2: Sharing the data of the ship and the pusher boat through the base station; Step S3: formulate and execute ship and pusher control strategies; Step S4: Check whether the ship and pusher boat execution is correct. If it is correct, continue to execute. If not, re-formulate the control strategy.

7. The control method for a transfer barge dynamically linked with a pusher propeller according to claim 6, characterized in that: Step S3 further includes the following steps: Step S31: The pusher control terminal reads the received initial data and generates an initial joint control strategy in combination with the built-in joint control calculation module; Step S32: The pusher sends the joint control strategy to the ship for review to determine whether the ship's execution unit is within the initial joint control strategy parameters. If so, it is executed; if not, the execution parameters of the ship's execution unit are sent to the pusher for recalculation.

8. The control method for a transfer barge dynamically linked with a pusher propeller according to claim 6, characterized in that: The step S3 further comprises the following steps: Generate a kinetic energy recovery unit recovery strategy. When the ship is decelerating and braking, the propeller motor will change from the original power output state to the energy recovery state. The generated electrical energy is transmitted to the energy recovery device through the relevant circuit. The energy recovery device collects and preliminarily processes the recovered energy, and stabilizes and rectifies the unstable electrical energy.

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