System for assisting the drag operation of a floating wind turbine

Abstract

A system and method for assisting a drag operation of a floating wind turbine (FWT) is disclosed. The FWT is provided with a wireless communication system and at least one position sensor for measuring the position of the FWT in at least three degrees of freedom. The main towing vessel is connected to the floating wind turbine by a towing line. The main dragging ship comprises a winch, a DP system and a two-way wireless communication system. A drag assist system / module / controller may be combined with a DP system. The one or more auxiliary drag vessels are connected to the floating wind turbine by drag lines. And one or more auxiliary dragging ships are provided with a two-way wireless communication system. A drag assist system / module / controller calculates setpoints (forces and directions) for all drag ships based on one or more input parameters from the floating wind turbine, one or more input parameters from each auxiliary drag ship, and one or more input parameters from the main drag ship.

Description

TECHNICAL FIELD

[0001] The present invention relates to a tow-assist system assisting the tow operation of a floating wind turbine (FWT). BACKGROUND

[0002] The traditional method for towing a floating wind turbine (FWT) from a shipyard to the sea is to use one main tow vessel plus at least two support vessels, which help to stabilize the lateral position of the floater. The operation is planned in advance according to the tow route. The tension and length of the lines are usually pre-calculated for a set of fixed conditions to control the deployment and depth of the tow lines. The "Towmaster" on the main tow vessel monitors the overall situation during the tow-out against the plan and issues instructions to the support vessels. This role requires a lot of experience.

[0003] When the floater reaches the location, all vessels must cooperate to keep the floater in position while connecting the mooring lines. This usually involves cooperation with different installation vessels.

[0004] Floating wind turbines do not have any actuators or thrusters and are also tall structures exposed to wind and waves, which can add complexity to the tow and installation operations.

[0005] Due to the high production planned for this market, there is a need for a system that assists the vessels in the tow and installation operations of the FWT with higher efficiency and higher accuracy without compromising the safety involved in these operations. SUMMARY

[0006] The present invention provides a solution to at least some of the problems disclosed above. The invention is defined in the claims.

[0007] The present invention provides in one aspect a system for assisting the tow operation of a floating wind turbine. The system comprises: - a floating wind turbine (FWT) comprising a wireless communication system and at least one position sensor for measuring the position of the floating wind turbine in at least three degrees of freedom; - a main tow vessel connectable to the floating wind turbine by a tow line, the main tow vessel comprising a winch, a DP system, a bidirectional wireless communication system and a tow-assist system / controller, wherein the tow-assist system is combined with the DP system; - at least one auxiliary tow vessel connectable to the floating wind turbine by a tow line, the at least one auxiliary tow vessel comprising a bidirectional wireless communication system, - wherein the tow assist system is configured to calculate a setpoint for the DP system of the main tow vessel based on at least one first input parameter from the floating wind turbine and at least one second input parameter from the at least one auxiliary tow vessel and at least one third input parameter from the main tow vessel.

[0008] The tow assist system can further be configured to calculate a setpoint for a winch control system of the main tow vessel. The setpoint for the winch control system can comprise at least one of a tow line tension and a tow line length. The calculated setpoint for the DP system can further comprise a length of the tow line. The tow assist system can be configured to calculate a setpoint for the at least one auxiliary tow vessel.

[0009] The at least one first input parameter from the floating wind turbine can comprise a motion of the floating wind turbine comprising at least one of a surge, a sway and a yaw. The at least one first input parameter from the floating wind turbine can comprise a motion of the floating wind turbine comprising at least one of a heave, a roll and a pitch.

[0010] The at least one first input parameter from the floating wind turbine can comprise a velocity and an acceleration of the floating wind turbine in six degrees of freedom.

[0011] The at least one second input parameter from the at least one auxiliary tow vessel can comprise a thrust of the at least one auxiliary tow vessel and a direction of the at least one auxiliary tow vessel. The at least one second input parameter from the at least one auxiliary tow vessel can comprise a position of the at least one auxiliary tow vessel in at least three degrees of freedom.

[0012] The at least one second input parameter from the at least one auxiliary tow vessel can comprise at least one of: - a motion of the auxiliary tow vessel comprising at least one of a heave, a surge, a sway, a roll, a pitch and a yaw; - a tension of a tow line between the auxiliary tow vessel and the FWT; - a length of a tow line between the auxiliary tow vessel and the FWT.

[0013] The at least one third input parameter from the main tow vessel can comprise a thrust of a thruster of the main tow vessel and a direction of the main tow vessel. The at least one third input parameter from the main tow vessel can comprise a position of the main tow vessel in at least three degrees of freedom.

[0014] The at least one third input parameter from the main tow vessel can comprise at least one of: - The motion of the main tugboat, which includes at least one of heave, sway, pitch, roll, pitch and bow roll; - Tension in the towing line between the main tugboat and the FWT; - The catenary of the towing line between the main tugboat and the FWT; - The length of the towing line between the main tugboat and the FWT; - Output from the winch control system of the main tugboat.

[0015] The auxiliary tugboat may also include a DP system. The auxiliary tugboat may also include a winch with a winch control system. The FWT may also include at least one of a satellite navigation system or an inertial measurement unit or an inertial navigation system. The inertial measurement unit is at least one of a motion reference unit (MRU) and a motion gyrocompass (MGC). The FWT includes differential GPS, motion sensors, and a gyrocompass. INS provides enhanced control and higher accuracy in weather conditions such as wind and waves.

[0016] In another aspect, the present invention provides a towing assistance system for assisting in the towing operation of a floating wind turbine. The towing assistance system includes: - An interface for combining the drag assist system with the DP system, enabling the drag assist system to receive at least one input parameter from the DP system and at least one input parameter from the winch control system. - An interface for receiving at least one first input parameter from a floating wind turbine; - Wherein, the towing assistance system is adapted to: calculate the setpoint of the main towing vessel and at least one auxiliary towing vessel based on at least one first input parameter from the floating wind turbine, at least one second input parameter from the winch control system of at least one auxiliary towing vessel, and at least one third input parameter from the DP system and winch control system of the main towing vessel.

[0017] The towing assistance system can also be adapted to calculate the setpoint of the winch control system of the main tugboat. The setpoint of the winch control system may include at least one of the towing line tension and the towing line length.

[0018] The setpoint of the main tractor may include the thrust of at least one thruster of the main tractor and the heading of the main tractor. The setpoint of at least one auxiliary tractor may include the thrust of at least one thruster of at least one auxiliary tractor and the orientation of at least one auxiliary tractor.

[0019] The calculated setpoints for the DP system may also include the length of the drag line.

[0020] At least one first input parameter from the floating wind turbine may include the position of the floating wind turbine in at least three degrees of freedom. At least one first input parameter from the floating wind turbine may include the motion of the floating wind turbine including at least one of the following: sway, pitch, and bow. At least one first input parameter from the floating wind turbine may include the velocity and acceleration of the floating wind turbine in six degrees of freedom. At least one first input parameter from the floating wind turbine may include the motion of the floating wind turbine including at least one of the following: roll, pitch, and heave.

[0021] At least one second input parameter from at least one auxiliary tow vessel may include the thrust of at least one auxiliary tow vessel and the orientation of at least one auxiliary tow vessel. At least one second input parameter from the auxiliary tow vessel may include the position of the auxiliary tow vessel in at least three degrees of freedom. At least one second input parameter from at least one auxiliary tow vessel includes at least one of the following motions of the auxiliary tow vessel: heave, sway, pitch, roll, and pitch.

[0022] At least one second input parameter from at least one auxiliary tugboat may include at least one of the following: - Tension in the towing line between the auxiliary tugboat and the FWT; - The length of the towing line between the auxiliary towing vessel and the FWT; At least one third input parameter from the main tugboat may include the thrust of the main tugboat's thruster and the orientation of the main tugboat. At least one third input parameter from the main tugboat may include the position of at least one auxiliary tugboat in at least three degrees of freedom. At least one third input parameter from the main tugboat may include the motion of the main tugboat including at least one of the following: sway, pitch, and bow.

[0023] At least one third input parameter from the main tugboat may include at least one of the following: - The motion of the main tugboat, which includes at least one of heave, sway, pitch, roll, pitch and bow roll; - Tension in the towing line between the main tugboat and the FWT; - The catenary of the towing line between the main tugboat and the FWT; - The length of the towing line between the main tugboat and the FWT; - Output from the winch control system of the main tugboat.

[0024] Another aspect of the present invention provides a main tugboat for assisting in the towing operation of a floating wind turbine. The main tugboat is connectable to the floating wind turbine via a towing line and includes: - At least one thruster; - Winch and DP system; - Two-way wireless communication system; - Drag-and-drop assistance system / controller, wherein the drag-and-drop assistance system is combined with the DP system; and - Wherein, the towing assistance system is adapted to: calculate the setpoints of the main towing vessel and at least one auxiliary towing vessel based on at least one input parameter, so as to assist the towing operation of the floating wind turbine.

[0025] The towing assistance system can also be adapted to calculate the setpoint of the winch control system of the main tugboat. The calculated setpoint of the DP system may also include the length of the towing line.

[0026] At least one input parameter may include: at least one first input parameter from the floating wind turbine, at least one second input parameter from at least one auxiliary tugboat, and at least one third input parameter from the main tugboat.

[0027] At least one first input parameter from the floating wind turbine may include at least one of the following: - The motion of a floating wind turbine, the motion of which includes at least one of heave, sway, pitch, roll, pitch and yaw; - Velocity and acceleration of a floating wind turbine in six degrees of freedom.

[0028] The drag assist system can be combined with the DP system and winch control system.

[0029] Calculating the setpoint may also include calculating the thrust of at least one thruster of the main tugboat and the direction of the main tugboat.

[0030] At least one first input parameter from the floating wind turbine may include at least one of the following: - The position of a floating wind turbine in at least three degrees of freedom; - The motion of a floating wind turbine, the motion of which includes at least one of heave, sway, pitch, roll, pitch and yaw; - Velocity and acceleration of a floating wind turbine in six degrees of freedom.

[0031] At least one second input parameter from at least one auxiliary vessel may also include at least one of the following: - The thrust and heading of at least one auxiliary vessel; - The position of at least one auxiliary vessel, preferably the position of at least one auxiliary vessel in at least three degrees of freedom; - The motion of at least one auxiliary vessel, the motion of which includes at least one of heave, sway, pitch, roll, pitch and bow roll; - Tension in the towing line between the auxiliary tugboat and the FWT; - The length of the towing line between the auxiliary towing vessel and the FWT; - The catenary of the towing line between the auxiliary tugboat and the FWT; - Output from the DP system of the auxiliary tugboat.

[0032] At least one third input parameter from the main tugboat may include the thrust of the main tugboat's thrusters and the main tugboat's heading / progression. At least one third input parameter from the main tugboat may include the main tugboat's position in at least three degrees of freedom.

[0033] At least one third input parameter from the main tugboat may include at least one of the following: - The motion of the main tugboat, which includes at least one of heave, sway, pitch, roll, pitch and bow roll; - Tension in the towing line between the main tugboat and the FWT; - The catenary of the towing line between the main tugboat and the FWT; - The length of the towing line between the main tugboat and the FWT; - Output from the winch control system of the main tugboat.

[0034] In another aspect, the present invention provides a method for assisting in the towing operation of a floating wind turbine. The method includes: - The floating wind turbine is towed by a main tow vessel and at least one auxiliary tow vessel, wherein the main tow vessel and at least one auxiliary tow vessel are connected to the floating wind turbine by a tow line, and the main tow vessel is equipped with a towing assistance system. - Receive at least one first input parameter from at least one sensor on the floating wind turbine, wherein the at least one sensor includes a position sensor for measuring the position of the floating wind turbine in at least three degrees of freedom; - Wherein, the towing assistance system is adapted to: calculate the setpoint of the main towing vessel and at least one auxiliary towing vessel based on at least one first input parameter from the floating wind turbine, at least one second input parameter from at least one auxiliary towing vessel, and at least one third input parameter from the main towing vessel.

[0035] The method may also include calculating the setpoint of the winch control system of the main tugboat, wherein the setpoint of the winch control system preferably includes at least one of the towing line tension and the towing line length.

[0036] The method may also include calculating the setpoint of the DP system of the main tugboat, wherein the setpoint includes the length of the towing line between the main tugboat and the floating wind turbine.

[0037] The setpoints of the DP system of the main tugboat include the thrust of the main tugboat's thrusters and the main tugboat's course.

[0038] The setpoint of the DP system of at least one auxiliary tugboat includes the thrust of at least one auxiliary tugboat's thruster and the direction of at least one auxiliary tugboat.

[0039] The location of a floating wind turbine can be global in at least three degrees of freedom.

[0040] Each setpoint is independent. The system can calculate the setpoints of all vessels involved in the towing operation. A DP (Depth Deployment) system is not required to complete the operation. Vessels can be manually controlled to follow the setpoints of all vessels. This allows for the use of different vessels and different types of vessels in towing operations. Different types of vessels can include tugboats, supply vessels, anchored vessels, etc. If a vessel is equipped with a DP system, it can perform the operation in fully automatic mode based on the setpoints provided by the towing assistance system. A DP system is not required on the auxiliary vessel.

[0041] Motion parameters improve operational precision, controllability, and safety. Motion parameters can be provided by sensors on the FWT. Alternatively, motion parameters can be provided for each vessel involved in the towing operation.

[0042] The setpoint of the DP system of the main tugboat can also include the length of the towing line, thereby improving operational flexibility, controllability and safety.

[0043] Parameters from a floating wind turbine can include the turbine's motion. These motions can include sway, roll, and pitch.

[0044] Parameters from the floating wind turbine may also include motions of the floating wind turbine including at least one of the following: heave, roll, and pitch. Higher operational precision can be provided by using measurement data of pitch, sway, bow, heave, roll, and pitch. Higher precision can also be provided for the setpoints of the main tugboat, auxiliary tugboat, and winch control system.

[0045] Furthermore, parameters from the floating wind turbine can also include velocity and acceleration in all six degrees of freedom of the floating wind turbine. This will provide even higher operational precision, and even higher precision in the setpoints of the main tugboat, auxiliary tugboat, and winch control systems.

[0046] Swell, roll, and pitch are the most important parameters for a free-floating tow ship (FWT). Roll and pitch provide additional information to correct for, for example, the position of a GPS antenna. Heave is the least important parameter because it does not affect the position on the sea surface. Information about heave can provide additional information to the towing operator. Even more information improves the accuracy and safety of FWT towing operations. The more parameters included in the towing assistance system's calculations, the more accurate the FWT's positioning will be. The operator can be, for example, a human, a robot, a humanoid robot, or a computer. Operation can be performed in automatic, semi-automatic, or manual mode. The position on the sea surface is measured in longitude and latitude.

[0047] Location data from GPS can also provide information about longitude, latitude, and heading.

[0048] Dynamic positioning systems can use the axes of the ship's coordinate system to determine the ship's position and speed.

[0049] The towing assistance system can calculate the setpoints of all tow vessels involved in the towing operation of the FWT. All tow vessels actively influence the movement of the FWT. Even if the tow vessels have lower accuracy in following the setpoint—for example, if the tow vessels are manually maneuvered or require more time to follow the setpoint instructions from the towing assistance system—the towing operation can still proceed normally as long as the measured values ​​of the parameters provided by the tow vessels are obtained and transmitted to the towing assistance system. In its simplest form, a setpoint can be provided for only one tow vessel towing the FWT. However, setting a setpoint for only one tow vessel can result in a weakened influence on the FWT and reduced accuracy compared to multiple tow vessels positioned in different directions.

[0050] Swell, roll, and pitch are the most important parameters because they provide information about the position on the sea surface. Roll and pitch help correct for position. Heave may not be necessary.

[0051] Winch tension can be particularly important because the tension of the tow line affects the boat's movement. Tow line length, tow line catenary, and tow line output length are additional information for the operator, but may be far less important than winch tension for controlling towing operations.

[0052] Drag-and-drop assistance ranges from enhanced situation awareness, consultation, and control to fully automated and integrated drag-and-drop outbound and docking operations.

[0053] The purpose of this feature can be summarized through the following applications: • Enhanced awareness and better support for towing captains enable reliable and efficient towing operations. This increases the likelihood of performing similar operations globally using less experienced vessels.

[0054] • Improves field positioning and retention by providing guidance on optimal position and tension for the tugboat through a user-friendly interface.

[0055] • Reduce peak / instantaneous loads by controlling relative motion, and improve control during docking operations and tension adjustment.

[0056] Drag-and-drop assistance can be broken down into several steps, ranging from simple improvements in situational awareness to process automation. Attached Figure Description

[0057] Exemplary embodiments are described with reference to the following figures, wherein: Figure 1 An exemplary implementation of the overall concept is shown: two different towed vessels are attached to the FWT via tow lines. Wireless communication between sensor suites on the two different vessels and the FWT is shown in dashed lines; Figure 2 An exemplary schematic diagram of drag-assisted awareness is shown, which provides an overview of the dragging situation on the main tugboat for controlling the dragging operation of a floating wind turbine, and includes historical locations to show the dynamics of the dragging situation. Figure 3 An exemplary schematic diagram of the catenary of the towing assistance towing rope of the towing assistance system on the main vessel is shown; Figure 4 An exemplary schematic diagram of the setpoint for each towed vessel in a towing situation is shown; Figure 5 This is an exemplary view of the system topology for a towing assistance system with four towed boats. Detailed Implementation

[0058] Exemplary embodiments are described with reference to the accompanying drawings. These exemplary embodiments are not intended to limit the scope of this disclosure.

[0059] Figure 1 The towing operation of a floating wind turbine (FWT) is illustrated. The main towing vessel 1 is connected to the floating wind turbine 3 via towing line 4. Another towing vessel 2 is also connected to the floating wind turbine via towing line 4. Dashed line 5 illustrates the communication between different entities in the system—the towing assistance system on the main towing vessel, the sensor suite on the FWT, and the auxiliary towing vessels.

[0060] A satellite navigation system can be installed on the FWT. The FWT can also be equipped with an inertial measurement unit and / or an inertial navigation system.

[0061] The inertial measurement unit can be a motion reference unit (MRU). The inertial measurement unit can also be a motion gyrocompass (MGC). An FWT can have both an MRU and an MGC. Differential GPS, motion sensors, and a gyrocompass can be mounted on the FWT.

[0062] Figure 2 An exemplary main view of drag-assisted situation awareness is shown, providing an overview of the dragging situation on the main tugboat used to control the dragging operation of the FWT. The floating wind turbine is shown as a triangle, but other shapes can also be used for the FWT. Figure 1 As shown, three towing vessels are connected to different corners of the three corners of a floating wind turbine triangle. The towing can then be controlled by the three towing vessels pulling each of the three corners in a cooperative manner. Three towing vessels are shown, with towing lines connected to the stern of the vessels. The towing lines can also be connected to the bow of the vessels. Each towing vessel is equipped with a winch. The towing lines are connected to the winches. The winches are controlled by a winch control system.

[0063] Boat Both the main tugboat and the auxiliary tugboat can be equipped with a dynamic positioning (DP) system. Dynamic positioning (DP) involves automatically or semi-automatically controlling the position and heading of the vessel using its own propellers and thrusters relative to one or more position references. A dynamic positioning (DP) system can maintain the vessel's position within given parameters or maneuver the vessel in ways that would be impossible without it. A dynamic positioning (DP) system can maneuver the vessel based on multiple input parameters. These input parameters can, for example, come from: - Sensors used on ships for positioning, heading, and speed; - Sensors for external factors such as wind, waves, and water currents; and - Input from the user performing a task, such as maintaining a position or moving in a specific pattern. User input can be provided from sources such as an external control center, another ship, the captain on board, or an interface to another system. The captain can input task data in various ways, including manual input using a mouse, on-screen input, and voice input.

[0064] The control algorithm of a dynamic positioning (DP) system receives sensor and user input parameters and performs ship maneuvering by controlling the ship's propellers and thrusters, even under changing external forces.

[0065] The DP system can be adapted to control the ship based on at least one first input parameter, which may include at least one of the following: - Location of the floating wind turbine; - The ship's position; - The ship's course; - The ship's thrust; - The motion of a floating wind turbine, the motion of which includes at least one of heave, sway, pitch, roll, pitch and yaw; - The motion of a ship, including at least one of heave, sway, pitch, roll, pitch and bow roll; - Tension of the drag line; - The length of the drag line; - Catenary cable for drag lines; - Output of the ship's winch control system.

[0066] The winch control system can be adapted to control the winch 6 on board based on at least one second input parameter, which can include at least one of the following: - Location of the floating wind turbine; - The ship's position; - The motion of a floating wind turbine, the motion of which includes at least one of heave, sway, pitch, roll, pitch and yaw; - The motion of a ship, including at least one of heave, sway, pitch, roll, pitch and bow roll; - The position of the drag line; and - Tension of the drag line; - Catenary cable for drag lines; - Output from the ship's DP system.

[0067] A main tugboat and one or more auxiliary tugboats are connected to the floating wind turbine towing line. The tugboats include marine propulsion systems and thrusters, and can be controlled, for example, manually, semi-automatically, or by a mission system or DP system. The tugboats are equipped with winches for deploying and retrieving the towing line and for controlling the towing line. The tugboats are equipped with a two-way wireless communication system.

[0068] The main towing vessel may include a DP (Drag and Drop) system. A towing assistance system / controller may be integrated with the DP system. As previously explained, the towing assistance system calculates setpoints for the main towing vessel and at least one auxiliary towing vessel based on at least one input parameter to assist in the towing operation of the floating wind turbine. The towing assistance system may calculate the setpoint of the winch control system of the main towing vessel. The calculated setpoint of the DP system may include the length of the towing line. The at least one input parameter may include one or more parameters from the floating wind turbine, one or more parameters from at least one auxiliary towing vessel, and one or more parameters from the main towing vessel.

[0069] One or more parameters from a floating wind turbine may include the position of the floating wind turbine in at least three degrees of freedom. One or more parameters from a floating wind turbine may include the motion of the floating wind turbine, such as sway, pitch, and bow, but may also include roll, pitch, and heave. Motion may also include the velocity and acceleration of the floating wind turbine in its six degrees of freedom. The towing assistance system can be integrated with the DP system and winch control system. The DP system calculates the setpoint of the main tugboat, which includes the thrust of at least one thruster of the main tugboat and the heading of the main tugboat.

[0070] One or more parameters from one or more auxiliary vessels may include the thrust and heading of at least one auxiliary vessel. One or more parameters from one or more auxiliary vessels may also include the position of at least one auxiliary vessel, preferably, the position of at least one auxiliary vessel in at least three degrees of freedom. One or more parameters from one or more auxiliary vessels may also include: The motion of at least one auxiliary vessel includes at least one of the following: heave, sway, pitch, roll, pitching and bow rolling; - Tension in the towing line between the auxiliary tugboat and the FWT; - The length of the towing line between the auxiliary towing vessel and the FWT; - The catenary of the towing line between the auxiliary tugboat and the FWT; - Output from the DP system of the auxiliary vessel.

[0071] One or more parameters from the main tugboat include the thrust of the main tugboat's thrusters and the main tugboat's direction / heading.

[0072] One or more parameters from the main tugboat may also include the position of the main tugboat in at least three degrees of freedom.

[0073] One or more parameters from the main tugboat may include at least one of the following: - The motion of the main tugboat, which includes at least one of heave, sway, pitch, roll, pitch and bow roll; - Tension in the towing line between the main tugboat and the FWT; - The catenary of the towing line between the main tugboat and the FWT; - The length of the towing line between the main tugboat and the FWT; - Output from the winch control system of the main tugboat.

[0074] The towing assistance system calculates the setpoints of all vessels involved in the towing operation. The setpoints of the towing assistance system are independent. A DP system is not required to perform this operation. A DP system may not be needed on the main towing vessel and one or more auxiliary towing vessels. The vessels can be manually controlled to follow the setpoints calculated by the towing assistance system. The main towing vessel may have a DP system, but one or more auxiliary vessels may not require one.

[0075] This allows for the use of different vessels and vessel types in towing operations. Different vessel types can include, for example, tugboats, supply vessels, and anchored vessels. If both the main tugboat and auxiliary tugboat are equipped with a DP (Depth Deployment) system, operation can be performed in fully automatic mode based on setpoints provided by the tugboat's auxiliary system.

[0076] Sensor kit The smallest standalone sensor kits can be mounted on floating objects and supporting tugboats to wirelessly retrieve the required status data, such as... Figure 1 As shown.

[0077] The following describes the floating object instrument kit in detail. The instrument kit can also be mounted on an auxiliary tugboat. The instrument kit can be housed in a compact unit mounted on the floating object. The instrument kit is detached from the floating object. The instrument kit may include: a differential GPS for measuring the floating object's position; motion sensors and a gyrocompass for measuring roll, pitch, heave, heading, 6-DOF velocity, and acceleration; a marine broadband radio for wireless transmission with the main tugboat and possibly also with auxiliary tugboats including those with two-way transmission; and a battery or conventional power supply for powering the instrument kit components.

[0078] The following explains an example of an instrumentation kit installed on a floating wind turbine.

[0079] Floating wind turbines may be equipped with an inertial navigation system (INS). This INS may include at least one of a satellite navigation system (e.g., Global Navigation Satellite System (GNSS) or GPS) and an inertial measurement unit (MRU or MGC) for measuring the position and motion of the floating wind turbine. The satellite navigation system may be, for example, GNSS, GPS, GLOAASS, BeiDou, Galileo, QZSS, IRNASS, or NavIC. The INS may be attached near a second pulley / guide after the tow line leaves the floating wind turbine. This allows for monitoring the motion of the floating wind turbine; i.e., heave, sway, pitch, roll, pitch, and bow. The floating wind turbine may also be equipped with a communication system (transceiver) for transmitting signals from floating instruments (e.g., signals from the INS, sensors, and cameras on the floating wind turbine) to the installation vessel. This communication system may be, for example, a marine broadband radio (MBR), but other wireless communication systems may also be used. The instruments on the floating structure may be pre-installed. The installation on the floating object can be detachable.

[0080] A first sensor is used to measure the distance between the floating wind turbine and the towed vessel. This first sensor can be mounted on the FWT and / or the installation vessel. This first sensor is typically a distance sensor. The distance sensor can be an optical sensor. The optical sensor can be a laser sensor or an infrared sensor. Depending on the system and system requirements, other distance sensors, such as radar or ultrasonic sensors, may also be used.

[0081] The relative motion between the main tugboat and the floating wind turbine can be estimated indirectly, alternatively, using data from at least two sensors on the MRU, with at least one sensor mounted on the main tugboat and at least one sensor mounted on the floating wind platform. The at least two sensors can be absolute position sensors.

[0082] The floating wind turbine (FWT) has a wireless communication system. The FWT is equipped with at least one position sensor for measuring the position of the floating wind turbine in at least three degrees of freedom.

[0083] The system may be equipped with at least one inertial navigation system (INS), which may be a satellite navigation system or an inertial measurement unit. The inertial measurement unit may be at least one of a motion reference unit (MRU) and a motion gyrocompass (MGC).

[0084] System Topology Figure 5An example with four towboats and towing devices involving different systems is shown. In this example, the square-shaped FWT1 is equipped with sensor kit 9. All towboats are connected to the FWT via their respective towing lines 4.

[0085] The main tugboat 2 may be equipped with a dynamic positioning system (DP) 6 and a winch 7. The main tugboat also has a towing assistance system (not shown). The winch is equipped with a winch control system. The winch control system is located on the main tugboat. The winch control system is connected to the DP control system to provide winch parameters to the DP control system, and the DP control system controls the winch. The DP system can be combined with the winch control system. This combination provides operators combining the DP and winch control systems with an improved operational overview.

[0086] The auxiliary tugboat 3 can have the same onboard components as the main tugboat. Figure 5 In an exemplary embodiment, the auxiliary tugboat is provided with a towing assistance subsystem 8. The towing assistance subsystem is a subsystem of the towing assistance system. The towing assistance subsystem communicates wirelessly with the towing assistance system. This communication can be bidirectional. The towing assistance subsystem can receive setpoints from the towing assistance system on the main tugboat. The towing assistance subsystem can also be integrated with a DP system on the auxiliary tugboat. In some embodiments, the towing assistance subsystem on the auxiliary tugboat can also enable the auxiliary tugboat to receive information from the FWT. The towing assistance subsystem may also not be integrated with the DP system. If the towing assistance subsystem is not integrated with the DP system, the setpoints from the auxiliary tugboat system can be displayed on a display on the auxiliary tugboat. The operator of the auxiliary tugboat can then use these setpoints to manually operate the auxiliary tugboat.

[0087] The dynamic positioning system (DP) on the main tugboat 1 can also be equipped with special enhanced mission equipment functions to control the main tugboat 1 during towing operations based on input from the sensor system on the floating wind turbine. The DP on the main tugboat can have a communication module to communicate with and control the winch control system. As a safety system in case of system failure, both the DP system and the winch control system can be configured for manual control by personnel on the main tugboat.

[0088] The instrumentation, boat winch (PIW) system, and dynamic positioning (DP) system of the main tugboat of the floating wind turbine (FWT), along with one or more auxiliary tugboats that may be equipped with DP systems in some embodiments, work together to complete the towing operation of the floating wind turbine. Figure 5This illustrates the concept of integrating the instrumentation suite, winch, and dynamic positioning system of a floating wind turbine. Instrument 9 on the floating wind turbine measures the position and motion (heave, sway, pitch, roll, pitch, bow) of the floating wind turbine. These position and motion parameters are transmitted to the main tugboat. The dynamic positioning system controls the main tugboat based on multiple parameters, including the position of the main tugboat and the position and motion parameters from the instruments on the floating wind turbine, and compensates for the relative motion between the floating wind turbine and the main tugboat, thereby enabling controlled towing operations.

[0089] The combination of the winch control system and the main tugboat's DP system, and in some embodiments, the auxiliary tugboat that may be equipped with a DP system, can achieve coordination between ship positioning and winch deployment and retrieval operations, and also improve overall safety in the event of a ship DP accident or winch failure.

[0090] The ship processing unit on the main tugboat can receive real-time position data from the floating wind turbine and calculate relative position, speed, and orientation, and output this data to the DP and winch control systems of the main tugboat. In some embodiments, if one or more auxiliary tugboats are equipped with DP systems, this data can also be output to one or more auxiliary tugboats. A remote motion system is installed on the floating wind turbine. This remote motion system may include an inertial measurement unit, a processing unit, and a battery. The remote motion system and the ship processing unit can communicate via a marine broadband radio (MBR) data link. Further details of these systems will be described later.

[0091] If the vessel (the main tugboat, and in some embodiments, one or more auxiliary tugboats possibly equipped with a dynamic positioning (DP) system) is equipped with a dynamic positioning (DP) system, the measurement and compensation of 2×6 degrees of freedom (DOF) motion are achieved by synchronizing the DP control system with the winch control system. During operation where the vessel (the main tugboat, and in some embodiments, one or more auxiliary tugboats possibly equipped with a DP system) is connected to a floating wind turbine, the DP control system and the winch control system remain synchronized to maintain a safety margin. Synchronization of the DP control system and the winch control system may involve at least one of the following: the position of the floating wind turbine (e.g., measured by sensors on the floating wind turbine), the position of the vessel provided by the dynamic positioning system, the position of the tow line provided by the winch / winch control system, and the operational status of the DP system and the winch / winch control system. The DP control system and the winch control system work together and are aware of each other's operation based on the input parameters described above and listed. Each DP control system and the winch control system are also aware of the status of the other system. The status can take the form of a fault / error condition or whether the system is operating normally. If a fault / error occurs, this can be used to improve system safety. During operation, if one of the control systems in the DP control system or winch control system fails, meaning it cannot maintain the precise position of the boat and tow line, the remaining control systems (DP or winch control system) will move the boat to a position with a higher safety margin. For example, the tow line can be guided to a safe position, the operation reversed, or the operation terminated.

[0092] Figure 1 , Figure 2 , Figure 3 and Figure 5An exemplary system topology for assisting the towing operation of a floating wind turbine is shown. The floating wind turbine (FWT) has a wireless communication system and one or more position sensors for measuring the position of the floating wind turbine in at least three degrees of freedom. A main towing vessel has a winch and is connected to the FWT via a towing line. The main towing vessel has a DP system. The main towing vessel is equipped with a two-way wireless communication system for communicating with one or more auxiliary towing vessels and receiving information from the FWT. When the towing assistance system is not mounted on the main towing vessel, the main towing vessel can also receive setpoints from the towing assistance system. The main towing vessel can also send information to the towing assistance system. The towing assistance system can be mounted on other vessels or at a remote location (e.g., ashore). The towing assistance system / controller can be integrated with the DP system on the main towing vessel. One or more auxiliary towing vessels are connected to the floating wind turbine assembly via towing lines. One or more auxiliary towing vessels are also equipped with a two-way wireless communication system for communicating with the main towing vessel and one or more other auxiliary towing vessels. This two-way wireless communication system can also communicate with the towing assistance system. The auxiliary towing vessel can receive setpoints from the towing assistance system via the wireless communication system. The auxiliary towing vessel can also send information to the towing assistance system via the wireless communication system.

[0093] The towing assistance system calculates the setpoint of the DP system of the main towing vessel based on at least one first input parameter from the floating wind turbine, at least one second input parameter from at least one auxiliary towing vessel, and at least one third input parameter from the main towing vessel.

[0094] The auxiliary tugboat may also include a DP system. The auxiliary tugboat is also equipped with a winch and a winch control system.

[0095] Further details about the drag-and-drop assistance system will be provided below.

[0096] Drag and drop assist system The towing assistance system can be a computer mounted on the main towing vessel. To control the position and velocity of the undisturbed floating object, the towing assistance system uses a mathematical model to estimate the response of the floating structure as it is attached by the main towing vessel and an auxiliary vessel via a towing line. This model estimates the floating object's motion based on sensor measurements and feedback from actuators on both the main towing vessel and the auxiliary vessel. The actuators include thrusters and propellers. Furthermore, the mathematical model considers the dynamics of the towing line and the effects of wind on the floating wind turbine.

[0097] Configuration of the mathematical model: Mass and drag characteristics of floating wind turbines - The geometry of the floating wind turbine and the tow line connection points on the floating wind turbine for the tow lines from the main vessel and auxiliary vessel. - Frontal area of ​​a floating wind turbine in all directions - Drag line characteristics (tension, length, catenary).

[0098] The model input is: - Desired position, heading, and speed for dragging - Floating object measurements provided by sensors in an instrumentation kit mounted on the floating object. - Wind speed measurement (received from the DP system on the main tugboat) - Feedback from the actuators (received from the DP system on all ships).

[0099] The model output is: - The expected force vector of all vessels involved in the towing operation (including the main towing vessel and the auxiliary towing vessel).

[0100] Secondary tug assist system The secondary towing assistance system is an interface unit located on a remote vessel. This interface unit connects to the primary towing assistance system via a wireless link. It receives setpoints from the primary towing assistance system and transmits sensor feedback from the secondary towing vessel back to the primary towing assistance system.

[0101] In implementations where the auxiliary vessel cannot be automatically controlled, an additional screen can be installed on the auxiliary vessel. In this case, the setpoint calculated by the future autonomous towing assistance system can be presented to the operator of the auxiliary vessel, who can manually control the auxiliary vessel during towing operations.

[0102] The catenary of different towing lines can be visualized using data from the winches involved on the main tugboat and auxiliary tugboats, as well as a catenary model of the rope. This can be displayed as an xy-plot on the main tugboat and one or more auxiliary tugboats, see [link to relevant documentation]. Figure 3 The drag line 1 can be compared with the current water depth 3 and water line 2.

[0103] The above text is about... Figure 5 The drag-and-drop assistance subsystem illustrated in the example can be a secondary drag-and-drop assistance system.

[0104] Consultation and control The next step is to expand the functionality of the floating object model to calculate the forces required to control the floating object. The main tugboat and auxiliary tugboats (auxiliary tugboats) are used as actuators for the passive floating object via a towing line. Based on the desired floating object position, the optimal setpoint for each tugboat is calculated, including angles and total thrust. Angles are the angles at which forces are applied. The setpoint is a vector representing both force and angle. Through continuous calculation of setpoints and monitoring of feedback, the towing assistance system can dynamically position the main tugboat and, if necessary, auxiliary tugboats along a predetermined path and control the towing speed.

[0105] Furthermore, throughout the mathematical model, the required line tension, length, and catenary can be monitored and adjusted, for example, to handle narrow channels or shallow water areas.

[0106] The final part is how to apply the setpoint from the central towing assistance system to all connected vessels, which is typically located on the main (primary) towing vessel.

[0107] Depending on the capabilities of the auxiliary vessel, the setpoint can be presented to the local captain or directly integrated into the control systems of each vessel. Three different integration levels will be described below.

[0108] Figure 4 An example view of the auxiliary vessel's setpoint is shown. The actual towing direction 1 is shown together with the deviation from the desired towing direction 3 calculated by the towing assistance system. The actual towing force 3 is shown together with the deviation from the desired towing force 4 calculated by the towing assistance system.

[0109] Assigning set points of a tug assist system to tugs The first-level control unit displays parameters of interest to the tugboat captain, such as the optimal position, course, thrust, and / or towline extension length of the main and auxiliary tugboats. The towing assistance module / system calculates parameters such as the position, course, thrust, and / or extension length of the auxiliary tugboat's towline and transmits them manually to the auxiliary tugboat via a conventional channel. This means that no additional equipment is required on the tugboat besides the sensor suite on the FWT for situation awareness.

[0110] The second level moves the consultation to the auxiliary tugboat. By adding a consultation kit with wireless communication to the towing assistance system on the tugboat, the tugboat operator has a direct view of the consultation location. This improves the tugboat's responsiveness and increases the accuracy of floating object positioning. The consultation kit may include a screen displaying the vessel's optimal position, heading, thrust, and winch deployment. Data is received wirelessly, for example, from the main tugboat via the MBR.

[0111] The above text is about Figure 5 The drag-and-drop assistance subsystem illustrated in the example may be a consultation suite in some implementations.

[0112] Level 3 involves complete integration between the towing assistance system and the thruster on the tugboat, meaning that the recommended setpoint can be directly set in the loop without manual intervention. At this level, the tugboat needs a DP system or thruster control system capable of receiving and applying the direct thruster setpoint.

[0113] This combination level enables unmanned tugboat operation.

[0114] A towing assistance system assists in the towing operation of a floating wind turbine. This towing assistance system has an interface for integration with a DP (Drag and Drop) system. This interface enables the towing assistance system to receive at least one input parameter from the DP system and at least one input parameter from the winch control system. The interface also receives at least one first input parameter from the floating wind turbine. The towing assistance system calculates a setpoint for the towing vessel involved in the towing operation of the floating wind turbine (FWT). The towing vessel includes a main towing vessel and at least one auxiliary towing vessel. The setpoint is calculated based on one or more parameters from the floating wind turbine, one or more input parameters from one or more winch control systems on one or more auxiliary towing vessels, and one or more input parameters from the DP system and winch control system on the main towing vessel.

[0115] The towing assistance system can calculate the setpoint of the winch control system of the main tugboat. The setpoint of the winch control system can include the towing line tension and / or towing line length. The calculated setpoint of the DP system of the main tugboat can include the length of the towing line between the main tugboat and the FWT. The towing assistance system can also calculate the setpoints of one or more auxiliary tugboats.

[0116] At least one first input parameter from the floating wind turbine can include the position of the auxiliary towing vessel in at least three degrees of freedom. The input parameters can also include one or more motion parameters of the floating wind turbine. These motions can include heave, roll, and yaw. Providing motion information from the FWT, including heave, roll, and pitch, can improve the accuracy of commands (e.g., setpoints) provided by the towing assistance module to the main towing vessel and one or more auxiliary vessels participating in the towing operation of the FWT. Parameters from the floating wind turbine can also include the velocity and acceleration of the floating wind turbine in six degrees of freedom. This will further improve the operational accuracy of the towing assistance system and the accuracy of the calculated commands. This increased accuracy improves the safety of the towing operation.

[0117] At least one second input parameter from at least one auxiliary towing vessel includes the thrust of at least one auxiliary towing vessel and the orientation of at least one auxiliary towing vessel. Furthermore, the parameter may include the position of at least one auxiliary towing vessel in at least three degrees of freedom. The input parameter from at least one auxiliary towing vessel may also include at least one of the following: - The motion of the auxiliary towing vessel, which includes at least one of heave, sway, pitch, roll, pitch and bow roll; - Tension in the towing line between the auxiliary tugboat and the FWT; - The length of the towing line between the auxiliary tugboat and the FWT.

[0118] The thrust of the main tractor's thruster and the orientation of the main tractor are provided to the towing assistance system as at least one third input parameter from the main tractor. Parameters relating to the position of the main tractor in at least three degrees of freedom may also be provided.

[0119] At least one third input parameter from the main tugboat may also include at least one of the following: - The motion of the main tugboat, which includes at least one of heave, sway, pitch, roll, pitch and bow roll; - Tension in the towing line between the main tugboat and the FWT; - The catenary of the towing line between the main tugboat and the FWT; - The length of the towing line between the main tugboat and the FWT; - Output from the winch control system of the main tugboat.

[0120] Floating wind turbines have no actuators or thrusters and are tall structures exposed to wind and waves, which may increase the complexity of towing and installation operations.

[0121] In an exemplary method, a floating wind turbine is towed by a main towboat and at least one auxiliary towboat, which are connected to the floating wind turbine via a tow line. The main towboat is equipped with a towing assistance system. At least one first input parameter from at least one sensor on the floating wind turbine is received. The at least one sensor may include a position sensor for measuring the position of the floating wind turbine in at least three degrees of freedom. The towing assistance system calculates a setpoint for the main towboat and the at least one auxiliary towboat based on at least one first input parameter from the floating wind turbine, at least one second input parameter from the at least one auxiliary towboat, and at least one third input parameter from the main towboat.

[0122] The towing assistance system can also calculate the setpoint of the winch control system of the main tugboat. The setpoint of the winch control system can be the towing line tension and / or the towing line length.

[0123] The calculated setpoint for the DP system of the main tugboat can also include the setpoint for the length of the towing line between the main tugboat and the floating wind turbine. Including the length of the towing line improves the level of control over the towing situation and enhances the safety of the towing operation.

[0124] Further details of the method can be found in the description of the preceding sections of this disclosure.

[0125] Having described exemplary embodiments of the invention, it will be apparent to those skilled in the art that other embodiments incorporating these concepts can be employed. The examples described above, and others, are intended to be illustrative only, and the actual scope of the invention should be determined in accordance with the appended claims.

Claims

1. A system for assisting in the towing operation of a floating wind turbine, the system comprising: - A floating wind turbine (FWT) including a wireless communication system and at least one position sensor for measuring the position of the floating wind turbine in at least three degrees of freedom; - A main tugboat, which can be connected to the floating wind turbine via a towing line, the main tugboat including a winch, a DP system, a two-way wireless communication system and a towing assistance system / controller, wherein the towing assistance system is combined with the DP system; - At least one auxiliary towing vessel, which is connectable to the floating wind turbine via a towing line, and which includes a two-way wireless communication system. - Wherein, the towing assistance system is configured to: calculate the setpoint of the DP system of the main towing vessel based on at least one first input parameter from the floating wind turbine, at least one second input parameter from the at least one auxiliary towing vessel, and at least one third input parameter from the main towing vessel.

2. The system according to claim 1, wherein, The towing assistance system is also configured to calculate the setpoint of the winch control system of the main tugboat.

3. The system according to claim 2, wherein, The setpoint of the winch control system includes at least one of the tension of the tow line and the length of the tow line.

4. The system according to claim 1 or 2, wherein, The calculated setpoint of the DP system also includes the length of the drag line.

5. The system according to any one of claims 1 to 4, wherein, The towing assistance system is configured to calculate the setpoint of the at least one auxiliary towing vessel.

6. The system according to any one of claims 1 to 5, wherein, The at least one first input parameter from the floating wind turbine includes motions of the floating wind turbine including at least one of the following: sway, roll, and bow roll.

7. The system according to any one of claims 1 to 6, wherein, The at least one first input parameter from the floating wind turbine includes the motion of the floating wind turbine including at least one of the following: heave, roll, and pitch.

8. The system according to any one of claims 1 to 7, wherein, The at least one first input parameter from the floating wind turbine includes the velocity and acceleration of the floating wind turbine in six degrees of freedom.

9. The system according to any one of claims 1 to 8, wherein, The at least one second input parameter from the at least one auxiliary tugboat includes the thrust of the at least one auxiliary tugboat and the orientation of the at least one auxiliary tugboat.

10. The system according to any one of claims 1 to 9, wherein, The at least one second input parameter from the at least one auxiliary tugboat includes the position of the at least one auxiliary tugboat in at least three degrees of freedom.

11. The system according to any one of claims 1 to 10, wherein, The at least one second input parameter from the at least one auxiliary tugboat includes at least one of the following: - The motion of the auxiliary tugboat, the motion of the auxiliary tugboat includes at least one of heave, sway, pitch, roll, pitch and bow roll; - The tension of the towing line between the auxiliary tugboat and the FWT; - The length of the towing line between the auxiliary tugboat and the FWT.

12. The system according to any one of claims 1 to 11, wherein, The at least one third input parameter from the main tugboat includes the thrust of the main tugboat's thruster and the direction of the main tugboat.

13. The system according to any one of claims 1 to 12, wherein, The at least one third input parameter from the main tugboat includes the position of the main tugboat in at least three degrees of freedom.

14. The system according to any one of claims 1 to 13, wherein, The at least one third input parameter from the main tugboat includes at least one of the following: - The motion of the main tugboat, the motion of the main tugboat includes at least one of heave, sway, pitch, roll, pitch and bow roll; - The tension of the towing line between the main tugboat and the FWT; - The catenary of the towing line between the main tugboat and the FWT; - The length of the towing line between the main tugboat and the FWT; - Output from the winch control system of the main tugboat.

15. The system according to any one of claims 1 to 14, wherein, The auxiliary tugboat also includes a DP system.

16. The system according to any one of claims 1 to 15, wherein, The auxiliary tugboat also includes a winch with a winch control system.

17. The system according to any one of claims 1 to 16, wherein, The FWT also includes at least one of a satellite navigation system, an inertial measurement unit, or an inertial navigation system.

18. The system according to any one of claims 1 to 17, wherein, The inertial measurement unit is at least one of a motion reference unit (MRU) and a motion gyro compass (MGC).

19. The system according to any one of claims 1 to 18, wherein, The FWT includes differential GPS, motion sensors, and a gyrocompass.

20. A towing assistance system for assisting in the towing operation of a floating wind turbine, the towing assistance system comprising: - An interface for combining the drag assist system with the DP system, the interface enabling the drag assist system to receive at least one input parameter from the DP system and at least one input parameter from the winch control system; - An interface for receiving at least one first input parameter from the floating wind turbine; - Wherein, the towing assistance system is adapted to: calculate the setpoints of the main towing vessel and the at least one auxiliary towing vessel based on at least one first input parameter from the floating wind turbine, at least one second input parameter from the winch control system of at least one auxiliary towing vessel, and at least one third input parameter from the DP system and winch control system of the main towing vessel.

21. The drag-and-drop assist system according to claim 20, wherein, The towing assistance system is also adapted to calculate the setpoint of the winch control system of the main tugboat.

22. The drag-and-drop assist system according to any one of claims 20 to 21, wherein, The setpoint of the winch control system includes at least one of the tension of the tow line and the length of the tow line.

23. The drag-and-drop assist system according to any one of claims 20 to 22, wherein, The setpoint of the main tractor includes the thrust of at least one thruster of the main tractor and the heading of the main tractor.

24. The drag-and-drop assist system according to any one of claims 20 to 23, wherein, The setpoint of the at least one auxiliary tugboat includes the thrust of at least one thruster of the at least one auxiliary tugboat and the direction of the at least one auxiliary tugboat.

25. The drag-and-drop assist system according to any one of claims 20 to 24, wherein, The calculated setpoint of the DP system also includes the length of the drag line.

26. Drag-and-drop assistance system, among which, The at least one first input parameter from the floating wind turbine includes the position of the floating wind turbine in at least three degrees of freedom.

27. The drag-and-drop assist system according to any one of claims 20 to 26, wherein, The at least one first input parameter from the floating wind turbine includes motions of the floating wind turbine including at least one of the following: sway, pitch, and bow.

28. The drag-and-drop assist system according to any one of claims 20 to 27, wherein, The at least one first input parameter from the floating wind turbine includes the velocity and acceleration of the floating wind turbine in six degrees of freedom.

29. The drag-and-drop assist system according to any one of claims 20 to 28, wherein, The at least one first input parameter from the floating wind turbine includes the motion of the floating wind turbine including at least one of the following: roll, pitch, and heave.

30. The drag-and-drop assist system according to any one of claims 20 to 29, wherein, The at least one second input parameter from the at least one auxiliary tugboat includes the thrust of the at least one auxiliary tugboat and the orientation of the at least one auxiliary tugboat.

31. The drag-and-drop assist system according to any one of claims 20 to 30, wherein, The at least one second input parameter from the auxiliary tugboat includes the position of the auxiliary tugboat in at least three degrees of freedom.

32. The drag-and-drop assist system according to any one of claims 20 to 32, wherein, The at least one second input parameter from the at least one auxiliary tugboat includes at least one of the following movements of the auxiliary tugboat: heave, sway, pitch, roll, pitch and sway.

33. The drag-and-drop assist system according to any one of claims 20 to 33, wherein, The at least one second input parameter from the at least one auxiliary tugboat includes at least one of the following: - The tension of the towing line between the auxiliary tugboat and the FWT; or - The length of the towing line between the auxiliary tugboat and the FWT.

34. The drag-and-drop assist system according to any one of claims 20 to 34, wherein, The at least one third input parameter from the main tugboat includes the thrust of the main tugboat's thruster and the direction of the main tugboat.

35. The drag-and-drop assist system according to any one of claims 20 to 35, wherein, The at least one third input parameter from the main tractor includes the position of the at least one auxiliary tractor in at least three degrees of freedom.

36. The drag-and-drop assist system according to any one of claims 20 to 36, wherein, The at least one third input parameter from the main tugboat includes the main tugboat's motion, which includes at least one of the following: sway, pitch, and bow roll.

37. The drag-and-drop assist system according to any one of claims 20 to 37, wherein, The at least one third input parameter from the main tugboat includes at least one of the following: - The motion of the main tugboat, the motion of the main tugboat includes at least one of heave, sway, pitch, roll, pitch and bow roll; - The tension of the towing line between the main tugboat and the FWT; - The catenary of the towing line between the main tugboat and the FWT; - The length of the towing line between the main tugboat and the FWT; - Output from the winch control system of the main tugboat.

38. A main tugboat for assisting in towing operations of a floating wind turbine, the main tugboat being connectable to the floating wind turbine via a towing line, the main tugboat comprising: - At least one thruster; - Winch and DP system; - Two-way wireless communication system; - A drag-and-drop assistance system / controller, wherein the drag-and-drop assistance system is combined with the DP system; and - Wherein, the towing assistance system is adapted to: calculate the setpoints of the main towing vessel and at least one auxiliary towing vessel based on at least one input parameter, so as to assist the towing operation of the floating wind turbine.

39. The main tugboat according to claim 39, wherein, The towing assistance system is also adapted to calculate the setpoint of the winch control system of the main tugboat.

40. The main tugboat according to claim 39 or 40, wherein, The calculated setpoint of the DP system also includes the length of the drag line.

41. The main tugboat according to any one of claims 39 to 41, wherein the at least one input parameter includes: At least one first input parameter from the floating wind turbine; and at least one second input parameter from the at least one auxiliary tugboat; And at least one third input parameter from the main tugboat.

42. The main tugboat according to any one of claims 39 to 42, wherein, The at least one first input parameter from the floating wind turbine includes at least one of the following: - The motion of the floating wind turbine includes at least one of heave, sway, pitch, roll, and yaw; or - The velocity and acceleration of the floating wind turbine in six degrees of freedom.

43. The main tugboat according to any one of claims 39 to 43, wherein, The drag assist system is combined with the DP system and the winch control system.

44. The main tugboat according to any one of claims 39 to 44, wherein, Calculating the setpoint also includes: calculating the thrust of at least one thruster of the main tugboat; and calculating the direction of the main tugboat.

45. The main tugboat according to any one of claims 39 to 45, wherein, The at least one first input parameter from the floating wind turbine includes at least one of the following: - The position of the floating wind turbine in at least three degrees of freedom; - The motion of the floating wind turbine includes at least one of heave, sway, pitch, roll, and yaw. - The velocity and acceleration of the floating wind turbine in six degrees of freedom.

46. ​​The main tugboat according to any one of claims 39 to 46, wherein, The at least one second input parameter from the at least one auxiliary vessel further includes at least one of the following: - The thrust and heading of the at least one auxiliary vessel; - The position of the at least one auxiliary vessel, preferably, the position of the at least one auxiliary vessel in at least three degrees of freedom; - The motion of the at least one auxiliary vessel, wherein the motion of the at least one auxiliary vessel includes at least one of heave, sway, pitch, roll, pitch and bow roll; - The tension of the towing line between the auxiliary tugboat and the FWT; - The length of the towing line between the auxiliary tugboat and the FWT; - The catenary of the towing line between the auxiliary tugboat and the FWT; - Output from the DP system of the auxiliary vessel.

47. The main tugboat according to any one of claims 39 to 47, wherein, The at least one third input parameter from the main tugboat includes the thrust of the main tugboat's thruster and the main tugboat's direction / heading.

48. The main tugboat according to any one of claims 39 to 48, wherein, The at least one third input parameter from the main tugboat includes the position of the main tugboat in at least three degrees of freedom.

49. The main tugboat according to any one of claims 39 to 49, wherein, The at least one third input parameter from the main tugboat includes at least one of the following: - The motion of the main tugboat, the motion of the main tugboat includes at least one of heave, sway, pitch, roll, pitch and bow roll; - The tension of the towing line between the main tugboat and the FWT; - The catenary of the towing line between the main tugboat and the FWT; - The length of the towing line between the main tugboat and the FWT; - Output from the winch control system of the main tugboat.

50. A method for assisting in the towing operation of a floating wind turbine, the method comprising: - The floating wind turbine is towed by a main tow vessel and at least one auxiliary tow vessel, wherein the main tow vessel and the at least one auxiliary tow vessel are connected to the floating wind turbine by a tow line, wherein the main tow vessel is equipped with a towing assistance system; - Receive at least one first input parameter from at least one sensor on the floating wind turbine, wherein the at least one sensor includes a position sensor for measuring the position of the floating wind turbine in at least three degrees of freedom; - Wherein, the towing assistance system is adapted to: calculate the setpoints of the main towing vessel and the at least one auxiliary towing vessel based on at least one first input parameter from the floating wind turbine, at least one second input parameter from the at least one auxiliary towing vessel, and at least one third input parameter from the main towing vessel.

51. The method according to claim 51, further comprising calculating the setpoint of the winch control system of the main tugboat, wherein, Preferably, the setpoint of the winch control system includes at least one of the tension of the drag line and the length of the drag line.

52. The method according to claim 51, further comprising calculating the setpoint of the DP system of the main tugboat, wherein, The set point includes the length of the towing line between the main tugboat and the floating wind turbine.

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