Intelligent tug and synchronous control method of smart port

Abstract

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

Description

Technical Field

[0001] This invention relates to the field of intelligent tugboat technology, specifically to an intelligent tugboat and synchronous control method for a smart port. Background Technology

[0002] In traditional port vessel berthing and unberthing operations, tugboat assistance is a crucial and technically complex step. The initial step involves transferring the heavy towline from the tugboat to the towed mother ship (i.e., "towline operation"), which still heavily relies on manual labor, constituting a safety bottleneck and inefficiency in the entire operation chain. The current mainstream operating mode involves tugboat crew maneuvering the tugboat to a dangerous area close to the mother ship's side. Amidst the continuous and unstable relative motion between the two ships caused by wind, waves, and currents, the crew manually catches or hooks a towline, with a lightweight lead line attached to one end, thrown from the mother ship's deck. Subsequently, this lead line is towed, pulling up the heavy main towline, which can weigh hundreds of kilograms, attached to the other end, and securing it to the mother ship's bollard. This process is fraught with risk. Deck crew members constantly face the high probability of personal injury, such as being struck by taut or slipping mooring lines, being squeezed between two ships, or falling overboard. The success of the operation depends heavily on the crew's personal experience, physical strength, and on-the-spot judgment. At night or in poor sea conditions with low visibility, the error rate and danger increase dramatically. In addition, the entire process is time-consuming, often taking ten minutes or even longer from dropping the mooring line to completing the mooring. During this time, the tugboat must maintain extremely close maneuvering to the mother ship for an extended period, posing a significant challenge to the helmsman's skills. This human-intensive, high-risk, and inefficient operating model is not only incompatible with the high throughput and zero-accident goals pursued by modern ports, but also, due to its reliance on high-risk human labor, becomes a key obstacle to the automation and intelligent upgrading of ports.

[0003] Automation and intelligentization are inevitable paths to significantly improve the overall efficiency and economy of port operations. The value of intelligent tugboats goes far beyond reducing manpower; it lies in achieving standardization and optimization of operational processes through precise program control and algorithm-based decision-making. From a broader port operations perspective, intelligent tugboats can be on standby 24 / 7, respond faster, have more predictable operating times, and can achieve optimal allocation of multiple vessels through port scheduling systems, thereby significantly reducing vessel downtime and increasing berth turnover. Therefore, promoting the automation and intelligentization of tugboat operations is not only a trend in technological development but also a core infrastructure requirement for modern ports to overcome operational efficiency bottlenecks and build next-generation smart logistics hubs. Summary of the Invention

[0004] To achieve the above objectives, the present invention provides an intelligent tugboat for a smart port, comprising a winch mechanism mounted on the tugboat's deck and a cable wound around the winch mechanism. A limit frame is provided on one side of the winch mechanism, which guides the cable when the tugboat tows a mother ship. When the cable needs to be attached to the mother ship, the mother ship drops a guide line, which is equipped with a magnetic head, and the cable has a connector capable of engaging with the magnetic head. A guide line capturing device is provided at the edge of the tugboat's deck, which can grab the guide line and position the magnetic head on the guide line. A cable operating device is provided on one side of the limit frame, which grabs the connector on the cable. The guide line capturing device pushes the magnetic head on the guide line to slide, and the cable operating device pushes the connector on the cable to slide. The magnetic head and the connector move towards each other and engage, thereby lifting the cable to the mother ship's deck via the guide line.

[0005] Furthermore, the cable-catching device includes a base and a first rotating arm and a second rotating arm disposed on the base; the area covered by the rotation of the first rotating arm and the second rotating arm is the deployable area of ​​the cable on the tugboat deck; the first rotating arm and the second rotating arm are higher than the tugboat deck by a certain height so that the magnetic head of the cable can fall below the first rotating arm and the second rotating arm.

[0006] Furthermore, both the first and second rotating arms are equipped with tracks and linear drives, as well as push plate assemblies mounted on the tracks; the linear drives drive the push plate assemblies to slide on the tracks, thereby pushing the magnetic suction head of the cable guide towards the cable joint; a fixing plate is provided at one end of the outer side of the second rotating arm; a limiting plate is provided on the opposing sides of the first and second rotating arms, and when the push plate assembly pushes the magnetic suction head of the cable guide, the limiting plate positions the magnetic suction head.

[0007] Furthermore, the end of the cable is provided with a collar for connection with the mother ship, and a positioning block is provided on the front side of the cable at the joint; the limiting frame includes a bracket provided on the tugboat deck and a cable guide cylinder provided on the bracket; the cable guide cylinder has a conical structure, and the positioning block has a conical structure adapted to the conical hole of the cable guide cylinder.

[0008] Furthermore, the cable operating device includes a slide seat located near the limiting frame and a fork assembly located on the slide seat; in the initial position, the connector is suspended below the cable guide tube by a cable, and the fork assembly slides forward through the slide seat to grasp the connector.

[0009] Furthermore, the shift fork assembly includes a slide frame slidably disposed on the slide block, and a fork plate disposed at the top of the slide frame; the fork plate has a guide port in the middle for guiding the cable into the slide; the height of the fork plate is higher than the height of the connector.

[0010] Furthermore, the connector has a hexagonal cross-section; the magnetic suction head includes an upper convex ring, a lower convex ring, and a groove disposed between the upper and lower convex rings; the central column of the groove has a hexagonal cross-section.

[0011] The intelligent tugboat synchronization control method for smart ports of the present invention, using the aforementioned intelligent tugboat for smart ports, includes the following steps:

[0012] Step a: The cable is connected to the bow of the mother ship via the cable capture device, cable handling device, and cable puller. The winch mechanism then retrieves the cable and pre-tensions it to the initial tension. To eliminate system flexibility;

[0013] Step b, the tugboat's thruster outputs maximum thrust. With the direction parallel to the dock, the winch mechanism is switched to the locked state, so that all the thrust is converted into the tension force to overcome the maximum static friction between the mother ship and the dock through the cable.

[0014] Step c: The control system monitors the longitudinal displacement acceleration of the mother ship and the ship-shore clearance. When the mother ship continues to move and If the value is greater than zero, a phase switch is triggered;

[0015] Step d: After the stage switching is triggered, the tugboat switches from parallel towing mode to lateral outward movement mode, quickly adjusts the thruster vector to accelerate the tugboat's hull towards the sea, and simultaneously releases the cable to support the tugboat's outward movement to avoid excessive tension. When the mother ship's bow is detected to be moving... When the ship approaches the preset departure course, proceed to the next step.

[0016] In step e, the tugboat begins to decelerate its lateral movement and gradually turns to a direction parallel to the target departure course. The tension of the mooring lines gradually aligns with the bow and stern lines of the mother ship to generate a torque opposite to the rotation direction of the mother ship, thus braking the mother ship and stabilizing it on the new course.

[0017] Furthermore, step d also includes controlling the system to stabilize the tension of the cable. Within its safe operating load, the angle between the mooring line and the mother ship's bow and stern lines is dynamically adjusted through the coordination of the tugboat's outward movement speed and the winch mechanism's cable-laying speed. And make it enter quickly and stay to Within a certain range, the control system continuously calculates and maximizes the mother ship's rotational angular acceleration. ;

[0018] When the mother ship's bow direction is detected Approaching the preset target departure course At that time, preparations to exit this phase will begin, allowing time for braking and course stabilization.

[0019] Furthermore, step e also includes, after the mother ship's course stabilizes, the tugboat and the winch mechanism work together to recover the cable to a working length suitable for straight towing through the winch mechanism. The tugboat continues to accelerate along the departure direction within its thrust boundary, towing the mother ship to a safe departure speed until it reaches a safe waterway.

[0020] When the distance between the mother ship and the dock exceeds the safe distance Once both vessels maintained stable speeds, the departure operation was deemed complete, and the unmooring procedure commenced.

[0021] The beneficial effects of this invention, compared with the prior art, are that it achieves automated operation of the docking of the lead cable and the towline. Through the coordinated operation of the lead cable capture device and the cable operating device, automated docking of the lead cable and the towline is achieved. When the lead cable thrown by the mother ship falls into the preset deployment area A on the tugboat deck, the first and second rotating arms of the lead cable capture device can rotate in opposite directions, clamping and spatially constraining the lead cable from both sides. The push plate assembly, driven by a linear drive, mounted on the rotating arms can slide along the track, actively pushing the magnetic suction head of the lead cable to move, and using a limiting plate to stabilize the magnetic suction head at the preset docking starting position. The cable operating device operates independently, with the winch mechanism retracting the cable to engage the positioning block of the cable. The conical guide tube of the limiting frame suspends and fixes the joint at a known coordinate position. Then, the slide drives the fork assembly forward, and the guide port at the front end of the fork plate is fitted with the cable, and the bottom of the fork plate abuts against the joint and pushes it toward the docking point. Finally, under the opposing push of the two sets of devices, the hexagonal groove of the magnetic head and the hexagonal joint are attracted together by magnetic force. This process eliminates the high-risk manual dragging and hooking operations of the crew on the swaying deck. It not only completely liberates the crew from dangerous and heavy physical labor, but also eliminates docking failures, delays or safety accidents caused by human error through mechanical positioning and procedural processes, significantly improving the reliability, safety and standardization of the operation.

[0022] The tugboat synchronous control method of the present invention, through real-time closed-loop control of sensing, calculation and execution, ensures that every step of the towing operation is in an optimal or suboptimal state, avoiding the trial-and-error, conservatism and lag in traditional manual operation. It not only saves preparation time through automated docking, but also optimizes the time of core operation processes through intelligent traction control, thereby improving the overall efficiency of port towing operations. Attached Figure Description

[0023] Figure 1This is a schematic diagram of the overall structure of the intelligent tugboat for the smart port of the present invention.

[0024] Figure 2 This is a schematic diagram of the automatic cable and rope docking device of the present invention;

[0025] Figure 3 This is a schematic diagram of the initial state of the cable on the winch mechanism according to the present invention;

[0026] Figure 4 This is a schematic diagram of the structure of the rotating arm in the closed state of the present invention;

[0027] Figure 5 This is a top view of the rotating arm in the closed state of the present invention;

[0028] Figure 6 This is a schematic diagram of the connection between the cable guide and the cable rope of the present invention;

[0029] Figure 7 This is a schematic diagram of the structure of the magnetic suction head and connector of the present invention;

[0030] Figure 8 This is a schematic diagram of the cable deployment area of ​​the present invention;

[0031] Figure 9 This is a flowchart of the intelligent tugboat synchronization control method for a smart port according to the present invention;

[0032] In the picture:

[0033] 100 tugboats;

[0034] Cable-guided capture device 1, base 11, first rotating arm 12, track 121, linear drive 122, push plate assembly 123, second rotating arm 13, fixing plate 14, limiting plate 15;

[0035] Cable guide 2, magnetic head 20, upper convex ring 21, lower convex ring 22, groove 23;

[0036] Cable operating device 3, slide 31, shift fork assembly 32, slide frame 321, fork plate 322, guide port 323;

[0037] Limiting frame 4, bracket 41, cable guide tube 42;

[0038] Cable 5, connector 50, positioning block 51, collar 52;

[0039] 6. Hoisting mechanism; Detailed Implementation

[0040] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0041] Example 1

[0042] The present invention will now be described in detail with reference to the accompanying drawings. The intelligent tugboat of the present invention for a smart port includes a winch mechanism 6 mounted on the deck of a tugboat 100 and a cable 5 wound around the winch mechanism 6. A limit frame 4 is provided on one side of the winch mechanism 6, which guides the cable 5 when the tugboat 100 tows a mother ship. When the cable 5 needs to be fitted onto the mother ship, the mother ship drops a guide line 2, which is equipped with a magnetic head 20. The cable 5 is equipped with a connector 50 capable of engaging with the magnetic head 20. The tugboat 100... A cable-catching device 1 is installed at the edge of the deck of the 00, which can grab the cable 2 and position the magnetic head 20 on the cable 2; a cable operating device 3 is installed on one side of the limiting frame 4, which grabs the joint 50 on the cable 5; the cable-catching device 1 pushes the magnetic head 20 on the cable 2 to slide, and the cable operating device 3 pushes the joint 50 on the cable 5 to slide; the magnetic head 20 and the joint 50 move towards each other and engage, and the cable 5 is lifted to the mother ship deck by the cable 2.

[0043] The cable-catching device 1 includes a base 11 and a first rotating arm 12 and a second rotating arm 13 disposed on the base 11; the area covered by the rotation of the first rotating arm 12 and the second rotating arm 13 is the deployable area of ​​the cable 2 on the deck of the tugboat 100; the first rotating arm 12 and the second rotating arm 13 are higher than the deck of the tugboat 100 by a certain height so that the magnetic head 20 of the cable 2 can fall below the first rotating arm 12 and the second rotating arm 13.

[0044] like Figure 8 As shown, after the tugboat 100 moves and approaches the target mother ship, the operators on the mother ship throw the guide cable 2 into the deployable area A on the deck of the tugboat 100. By rotating the first rotating arm 12 and the second rotating arm 13, the guide cable 2 is clamped between the first rotating arm 12 and the second rotating arm 13. (Refer to...) Figure 4 and Figure 5 The operators on the mother ship need to ensure that the guide cable 2 of sufficient length is thrown to the deck of the tugboat 100, and that the magnetic head 20 of the guide cable 2 falls onto the deck end face of the tugboat 100 and is located below the first swing arm 12 and the second swing arm 13.

[0045] The first rotating arm 12 and the second rotating arm 13 are each provided with a track 121 and a linear drive 122, as well as a push plate assembly 123 provided on the track 121. The linear drive 122 drives the push plate assembly 123 to slide on the track 121 to push the magnetic suction head 20 of the cable 2 toward the joint 50 of the cable 5. A fixing plate 14 is provided at one end of the outer side of the second rotating arm 13. A limiting plate 15 is provided on the opposing sides of the first rotating arm 12 and the second rotating arm 13. When the push plate assembly 123 pushes the magnetic suction head 20 of the cable 2, the limiting plate 15 positions the magnetic suction head 20.

[0046] After rotating the first rotating arm 12 and the second rotating arm 13 to clamp the guide cable 2, the guide cable 2 is simultaneously restricted between the push plate assembly 123 and the fixed plate 14. When the guide cable 2 is pushed to slide by the push plate assembly 123, the guide cable 2 slides upward relative to the first and second rotating arms, causing the magnetic suction head 20 on the guide cable 2 to abut against the limiting plate 15. At this time, the operators on the mother ship ensure that the guide cable 2 is in a slack state, thereby using the combined action of the limiting plate 15 and the push plate assembly 123 to achieve the positioning and pushing of the magnetic suction head 20.

[0047] The end of the cable 5 is provided with a collar 52 for connection with the mother ship, and a positioning block 51 is provided on the cable 5 at the front side of the joint 50. Specifically, according to the appendix... Figure 3 The defining collar 52 is located on the rear side of the connector 50, and the positioning block 51 is located on the front side of the connector 50; the limiting frame 4 includes a bracket 41 disposed on the deck of the tugboat 100, and a cable guide cylinder 42 disposed on the bracket 41; the cable guide cylinder 42 has a conical structure, and the positioning block 51 has a conical structure adapted to the conical hole of the cable guide cylinder 42.

[0048] After the cable 5 is retrieved by the winch mechanism 6, the positioning block 51 on the cable 5 is engaged in the cable guide tube 42 of the limit frame 4, thereby positioning the positioning block 51 and the connector 50 of the cable 5. This allows the connector 50 to hang below the cable guide tube 42 via the cable 5, making it easier for the cable operation device 3 to grab the connector 50.

[0049] The cable operating device 3 includes a slide 31 located near the limiting frame 4 and a fork assembly 32 located on the slide 31; in the initial position, the connector 50 is suspended below the cable guide cylinder 42 by the cable 5, and the fork assembly 32 slides forward through the slide 31 and grabs the connector 50.

[0050] The shift fork assembly 32 includes a slide 321 slidably disposed on the slide block 31, and a fork plate 322 disposed at the top of the slide 321; the fork plate 322 has a guide port 323 in the middle for guiding the cable 5 into the slide; the height of the fork plate 322 is higher than the height of the connector 50.

[0051] When using the cable operating device 3 to grab the joint 50 of the cable 5, the device is first put into an initial state. The cable 5 is tightened by controlling the winch mechanism 6, so that the positioning block 51 of the cable 5 abuts against the guide tube 42 of the limiting frame 4, so that the joint 50 is suspended in the initial position below the guide tube 42, and the joint 50 is located below the fork plate 322 of the fork assembly 32. The slide 31 drives the slide 321 to slide forward, so that the cable 5 above the joint 50 enters the guide port 323 in the middle of the fork plate 322. The winch mechanism 6 is controlled to release the braking mechanism. The fork plate 322 has an L-shaped structure, and the middle of the top horizontal plate of the L-shaped fork plate 322 is the guide port 323. The slide 321 continues to slide forward so that the lower end of the top horizontal plate of the fork plate 322 abuts against the joint 50 of the cable 5. The cable 5 is dragged forward by the fork plate 322, and the joint 50 of the cable 5 is pushed to the designated position by the fork plate 322.

[0052] The connector 50 has a hexagonal cross-section; the magnetic head 20 includes an upper convex ring 21, a lower convex ring 22, and a groove 23 disposed between the upper and lower convex rings; the central column of the groove 23 has a hexagonal cross-section. The groove 23 in the middle of the magnetic head 20 facilitates the attraction of the connector 50, thereby increasing the contact area and improving the tension of the cable 2 on the cable 5. The cross-section of the connector 50 and the central column of the groove 23 are both hexagonal, enabling the magnetic head 20 to engage with the connector 50 when the cable 2 and cable 5 undergo horizontal torsion. The magnetic head 20 is made of N35~N52 grade neodymium iron boron magnets, providing a tension of approximately 100~150 N. The connector 50 is made of low-carbon steel. The fork assembly 32 of the cable operating device 3 and the first rotating arm 12 and the second rotating arm 13 of the cable capturing device 1 are both made of non-magnetic materials.

[0053] Example 2

[0054] In order to improve the efficiency of the tugboat 100 in port departure operations for the mother ship, the control system of the tugboat 100 needs to find a trajectory that minimizes the time required for the mother ship to rotate from the initial berthing state and move out to a safe water area, under the physical limits of the equipment, such as the maximum thrust of the tugboat 100's propeller, the breaking strength of the cable 5, the maximum winding and unwinding speed of the winch mechanism 6, and process safety constraints.

[0055] The intelligent tugboat synchronization control method for smart ports of the present invention includes the following steps:

[0056] Step a: The cable 5 is connected to the bow of the mother ship by the cable capture device 1, the cable operation device 3, and the cable 2. The winch mechanism 6 then winds up the cable and pre-tensions the cable 5 to the initial tension. To eliminate system flexibility;

[0057] Step b, the thruster of tugboat 100 outputs maximum thrust. With the direction parallel to the dock, control the winch mechanism 6 to switch to the locked state, so that all the thrust is converted into the tension force to overcome the maximum static friction between the mother ship and the dock through the cable 5;

[0058] Step c: The control system monitors the longitudinal displacement acceleration of the mother ship and the ship-shore clearance. When the mother ship continues to move and If the value is greater than zero, a phase switch is triggered;

[0059] Step d: After the stage switching is triggered, the tugboat 100 switches from parallel towing mode to lateral outward movement mode, quickly adjusts the thruster vector to accelerate the hull of the tugboat 100 to move laterally towards the sea, and at the same time, the winch mechanism 6 releases the cable 5 to support the outward movement of the tugboat 100 to avoid excessive tension. When the mother ship's bow is detected to be moving towards... When the ship approaches the preset departure course, proceed to the next step.

[0060] Step e: Tugboat 100 begins to decelerate its lateral movement and gradually turns to a direction parallel to the target departure course. The tension of cable 5 gradually aligns with the bow and stern lines of the mother ship to generate a torque opposite to the rotation direction of the mother ship, thus braking the mother ship and stabilizing it on the new course.

[0061] Step d also includes controlling the system to stabilize the tension of cable 5. Within its safe operating load, the angle between the mooring line and the bow and stern lines of the mother ship is dynamically adjusted through the coordination of the outward movement speed of the tugboat 100 and the mooring speed of the winch mechanism 6. And make it enter quickly and stay to Within a certain range, the control system continuously calculates and maximizes the mother ship's rotational angular acceleration. ;

[0062] When the mother ship's bow direction is detected Approaching the preset target departure course At that time, preparations to exit this phase will begin to allow time for braking and stabilizing the course;

[0063] Step e further includes, after the mother ship's course is stabilized, the tugboat 100 and the winch mechanism 6 work together to recover the cable 5 to a working length suitable for straight towing through the winch mechanism 6, and the tugboat 100 continues to accelerate along the departure direction within its thrust boundary, towing the mother ship to a safe departure speed until it reaches a safe waterway.

[0064] When the distance between the mother ship and the dock exceeds the safe distance Once both vessels maintained stable speeds, the departure operation was deemed complete, and the unmooring procedure commenced.

[0065] In the intelligent tugboat synchronization control method for smart ports of the present invention, the maximum thrust of the tugboat 100 at different speeds is known. and maximum rotational torque The safe working load (SWL) and breaking load (BFL) of cable 5, and the maximum continuous cable winding speed of hoisting mechanism 6. and maximum tension control response frequency; maximum permissible lateral acceleration of the mother ship. and maximum rotational angular acceleration To prevent cargo displacement or equipment damage on board; during the mother ship's rotation, the real-time minimum distance between its stern, midships, and vessels at the dock and other berths. Real-time rate of change of tension in cable 5 It is used to detect and avoid impact loads.

[0066] The tugboat 100 control system aims to minimize operation time in order to maximize operational efficiency. The minimum operation time can be expressed as:

[0067]

[0068] in, For task completion time, path constraints: , Terminal constraints: In At that moment, the mother ship's bow turned towards and distance from the dock .

[0069] To initiate and maintain the mother ship's rotation as quickly as possible, the rotational torque must be maximized at any given moment. , ,in, For cable tension, Let θ be the angle between the mooring line and the bow and stern lines of the mother ship, and r be the lever arm from the mooring point to the center of gravity of the mother ship.

[0070] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A smart tugboat for a smart port, comprising a winch mechanism (6) mounted on the deck of a tugboat (100) and a cable (5) wound around the winch mechanism (6), characterized in that: A limit frame (4) is provided on one side of the winch mechanism (6), and the limit frame (4) guides the cable (5) when the tugboat (100) tows the mother ship. When it is necessary to attach the cable (5) to the mother ship, the mother ship drops the guide cable (2), the guide cable (2) is provided with a magnetic head (20), and the cable (5) is provided with a connector (50) that can engage with the magnetic head (20). The tugboat (100) is provided with a cable capture device (1) at the edge of the deck. The cable capture device (1) can grab the cable (2) and position the magnetic head (20) on the cable (2). A cable operating device (3) is provided on one side of the limiting frame (4), and the cable operating device (3) grabs the connector (50) on the cable (5). The cable capture device (1) pushes the magnetic head (20) on the cable (2) to slide, and the cable operation device (3) pushes the joint (50) on the cable (5) to slide; The magnetic head (20) moves toward the connector (50) and engages with it, and the cable (5) is lifted to the mother ship deck by the guide cable (2); The cable capture device (1) includes a base (11) and a first rotating arm (12) and a second rotating arm (13) disposed on the base (11). The area covered by the rotation of the first rotating arm (12) and the second rotating arm (13) is the deployable area of ​​the cable (2) on the deck of the tugboat (100); The first rotating arm (12) and the second rotating arm (13) are higher than the deck of the tugboat (100) by a certain height so that the magnetic head (20) of the guide cable (2) can fall below the first rotating arm (12) and the second rotating arm (13); The first rotating arm (12) and the second rotating arm (13) are each provided with a track (121) and a linear drive (122), as well as a push plate assembly (123) provided on the track (121). The linear drive (122) drives the push plate assembly (123) to slide on the track (121) to push the magnetic head (20) of the cable (2) toward the joint (50) of the cable (5); A fixing plate (14) is provided at one end of the outer side of the second rotating arm (13); Limiting plates (15) are provided on the opposing sides of the first rotating arm (12) and the second rotating arm (13). When the push plate assembly (123) pushes the magnetic suction head (20) of the cable guide (2), the limiting plate (15) positions the magnetic suction head (20). The end of the cable (5) is provided with a collar (52) for connecting with the mother ship, and a positioning block (51) is provided on the front side of the cable (5) at the joint (50). The limiting frame (4) includes a bracket (41) disposed on the deck of the tugboat (100) and a cable guide cylinder (42) disposed on the bracket (41). The cable guide tube (42) has a conical structure, and the positioning block (51) has a conical structure that is adapted to the conical hole of the cable guide tube (42); The cable operating device (3) includes a slide (31) located near the limit frame (4) and a fork assembly (32) located on the slide (31). In the initial position, the connector (50) is suspended below the cable tube (42) by the cable (5), and the fork assembly (32) slides forward and grabs the connector (50) via the slide (31).

2. The intelligent tugboat for a smart port according to claim 1, characterized in that: The shift fork assembly (32) includes a slide (321) slidably disposed on the slide (31) and a fork plate (322) disposed at the top of the slide (321). The fork plate (322) is provided with a guide port (323) in the middle to guide the cable (5) into the path. The height of the fork plate (322) is higher than the height of the joint (50).

3. The intelligent tugboat for a smart port according to claim 2, characterized in that: The cross-section of the connector (50) is hexagonal; The magnetic suction head (20) includes an upper convex ring (21), a lower convex ring (22), and a groove (23) disposed between the upper and lower convex rings. The central column of the groove (23) has a hexagonal cross-section.

4. A synchronous control method for intelligent tugboats in a smart port, employing the intelligent tugboat of any one of claims 1-3, characterized in that, Includes the following steps: Step a: The cable (5) is connected to the bow of the mother ship by the cable capture device (1), the cable operation device (3) and the cable (2), and the winch mechanism (6) takes in the cable and pre-tensions the cable (5) to the initial tension. To eliminate system flexibility; Step b, the thruster of the tugboat (100) outputs maximum thrust. The direction is parallel to the dock. Control the winch mechanism (6) to switch to the locked state so that all the thrust is converted into the tension force to overcome the maximum static friction between the mother ship and the dock through the cable (5). Step c: The control system monitors the longitudinal displacement acceleration of the mother ship and the ship-shore clearance. When the mother ship continues to move and If the value is greater than zero, a phase switch is triggered; Step d: After the stage switching is triggered, the tugboat (100) switches from parallel towing mode to lateral outward movement mode, quickly adjusts the thruster vector to accelerate the hull of the tugboat (100) to move laterally towards the sea, and at the same time, the winch mechanism (6) releases the cable (5) to support the outward movement of the tugboat (100) to avoid excessive tension. When the mother ship's bow is detected to be moving towards the sea... When the ship approaches the preset departure course, proceed to the next step. Step e, the tugboat (100) begins to decelerate its lateral movement and gradually turns to a direction parallel to the target departure course. The tension of the cable (5) gradually aligns with the bow and stern lines of the mother ship to generate a torque opposite to the rotation direction of the mother ship, thus completing the braking of the mother ship and stabilizing it on the new course.

5. The synchronization control method according to claim 4, characterized in that: Step d also includes controlling the tension of the control system stabilizing the cable (5). Within its safe operating load, the angle between the cable and the bow and stern lines of the mother ship is dynamically adjusted by coordinating the outward movement speed of the tugboat (100) and the cable-laying speed of the winch mechanism (6). And make it enter quickly and stay to Within a certain range, the control system continuously calculates and maximizes the mother ship's rotational angular acceleration. ; When the mother ship's bow direction is detected Approaching the preset target departure course At that time, preparations to exit this phase will begin, allowing time for braking and course stabilization.

6. The synchronization control method according to claim 5, characterized in that: Step e further includes, after the mother ship’s course is stabilized, the tugboat (100) and the winch mechanism (6) work together to recover the cable (5) to a working length suitable for straight towing through the winch mechanism (6), and the tugboat (100) continues to accelerate in the departure direction within its thrust boundary to pull the mother ship to a safe departure speed until it reaches a safe water area. When the distance between the mother ship and the dock exceeds the safe distance Once both vessels maintained stable speeds, the departure operation was deemed complete, and the unmooring procedure commenced.

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