CN112394735A - Control method of modular unmanned intelligent tug - Google Patents
Control method of modular unmanned intelligent tug Download PDFInfo
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- CN112394735A CN112394735A CN202011380381.2A CN202011380381A CN112394735A CN 112394735 A CN112394735 A CN 112394735A CN 202011380381 A CN202011380381 A CN 202011380381A CN 112394735 A CN112394735 A CN 112394735A
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- 210000001503 joint Anatomy 0.000 claims abstract description 10
- 238000007726 management method Methods 0.000 claims description 11
- 238000001514 detection method Methods 0.000 claims description 10
- 230000001172 regenerating effect Effects 0.000 claims description 4
- 239000002283 diesel fuel Substances 0.000 claims description 3
- 238000012544 monitoring process Methods 0.000 claims description 3
- 238000010248 power generation Methods 0.000 claims description 3
- 238000011217 control strategy Methods 0.000 claims description 2
- 230000008447 perception Effects 0.000 claims 1
- 238000011161 development Methods 0.000 abstract description 7
- 238000004891 communication Methods 0.000 abstract description 6
- 206010063385 Intellectualisation Diseases 0.000 abstract description 5
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/0206—Control of position or course in two dimensions specially adapted to water vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
- B63B35/66—Tugs
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The invention discloses a control method of a modular unmanned intelligent tug, which is used for controlling the modular unmanned intelligent tug, wherein the modular unmanned intelligent tug comprises a shore end and a tug end, and wireless network communication is mainly utilized between the shore end and the tug end. The tug end is provided with a control system and realizes real-time communication with the shore end. The modules can be arbitrarily combined into a multi-module structure through an automatic butt joint device to carry out cluster operation. The modularized tug adds new energy application of solar energy and wind energy, combines electric energy and a diesel generator to form a multi-energy hybrid electric propulsion system, and performs energy management on multiple energy sources. Therefore, the control method of the novel tug meets the development requirements of greenization and intellectualization.
Description
Technical Field
The invention relates to a control method of an intelligent tug, in particular to a control method of a modular unmanned intelligent tug.
Background
With the development of intelligent control technology, communication technology and green energy technology, unmanned tugboats, unmanned cargo ships and unmanned docks become the marks of future shipping systems. The invention designs a modularized unmanned intelligent tug structure from the aspects of greenization and intellectualization, and researches are carried out from the greenization design of a power system to the intellectualization design of a modularized ship body, a control system and a navigation system.
Due to the particularity of the working environment of the port tug, the requirements on the stability, the safety and the automation degree of the working process of the port unmanned tug are higher, so that the research has high practical significance and is a very important link for the research of the ship automation technology. The introduction of the concept of greening and intellectualization into a ship main body system is the main direction of development of the ship industry at present and is the conventional requirement of a newly built ship in the world at present. Therefore, a new green and intelligent research design for the tug boat in harbor operation is necessary.
Disclosure of Invention
In view of the above, aiming at the above intelligent development requirements of the ship industry, the invention designs a control method of a modular unmanned intelligent tug, describes a control method of a novel modular unmanned intelligent tug, and provides a new idea and approach for the research of the control method of the modular unmanned intelligent tug.
In order to solve the problems, the invention adopts the technical scheme that the modularized unmanned intelligent tug is controlled and divided into a shore end and a tug end, and wireless network communication is mainly utilized between the shore end and the tug end. The tug end is provided with a basic unmanned control system, and real-time communication is achieved with the shore end.
In order to achieve the purpose, the invention adopts the following technical scheme: a control method of a modular unmanned intelligent tug comprises a multi-module combination cluster control method and a multi-energy management method. The modular unmanned intelligent tug structure comprises a shore end and a tug end.
The bank end mainly comprises a monitoring command center, bank end users and a charging base station.
The tug end mainly comprises a main controller, an intelligent navigation terminal, shipborne navigation equipment, a mobile terminal, a propeller module, a generator module and a steering engine module.
The shore end and the tug end are communicated with each other mainly through a wireless network. The shore end is provided with a network base station, and the tug end is provided with mobile equipment.
The modularized tug can be controlled by a single module, a control instruction is sent to the tug end control center through a bank end user, and the control center distributes the control instruction to each module to execute relevant operation according to the instruction.
The modularized tug can also carry out distributed multi-module combined cluster control according to requirements, and uniformly control small module groups such as a propeller, a generator and a steering engine of the combined multi-module.
The combination between many tow boat modules is accomplished through installing at module automatic interfacing apparatus all around, and the device includes public first device, female first device, rotary device and connects the cone, and the butt joint module passes through detection module and detects position, the butt joint information by the butt joint module, and public first device docks with female first device to aim at and detect through infrared detection module whether public head stretches into female first device completely, if stretch into then the butt joint succeed.
Install the automatic connection device of tow-cable on tow boat module deck, including intelligent vehicle and dolly movable guide rail, intelligent vehicle is including containing control module, power module, detection module's dolly base, superstructure, fix the fixed ring on superstructure, the position after the release of tow-cable is followed to the dolly is moved on the guide rail, move and carry out the locking from this position nearest place, fixed ring begins to move this moment, rotate along with the tow-cable direction, wait for crossing of tow-cable after the stability, infrared ray in the ring detects the tow-cable and crosses back locking ring, the completion is connected.
The modularized tug also adds the application of new energy, combines diesel oil for power generation, forms a multi-energy hybrid electric propulsion system, and performs energy management control on the multi-energy.
According to the invention, through the design of an unmanned intelligent control method for the modular tug, new energy is fully utilized, and a cluster control method is combined, so that the operation efficiency and the utilization rate of the tug are improved, and the defects of the traditional control method of the tug are overcome.
Based on the technical scheme, the invention has the advantages that: the modularized unmanned intelligent tug can autonomously operate according to a designed control method, does not need manual work, conforms to the intelligent development direction of the ship industry, and also combines the multi-module cooperative work to realize multi-tug cluster operation, so that the defects existing in the traditional working mode are overcome, the tug works more simply and accurately, and the working efficiency of the tug and the utilization rate of tug modules are improved. The method also reasonably manages multiple energy sources to form an efficient working mode, and saves resources while fully utilizing new energy sources. The design conforms to the development direction of greenization and intellectualization.
Drawings
FIG. 1 is a schematic diagram of a communication mode between a tug end and a shore end;
FIG. 2 is a schematic view of the arrangement of the tug end device;
FIG. 3 is a schematic diagram of a bank end device distribution;
FIG. 4 is a flow chart of tug cluster operation control;
FIG. 5 is a schematic diagram of a hybrid power general control structure;
FIG. 6 is a flow chart of hybrid operating mode control;
FIG. 7 is an overall schematic view of a single module tug.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention provides a control method of a modular unmanned intelligent tug, which comprises a control method of multi-module cluster operation and a multi-energy management method.
As shown in fig. 1, the shore end and the tug end communicate with each other through a wireless network, and the onboard navigation equipment information, the intelligent navigation terminal information and the like are subjected to protocol conversion through the mobile serial server and are sent to the control center and the shore end command center.
As shown in fig. 3, the bank end mainly includes a monitoring command center, a bank end user, and a charging base station.
As shown in fig. 2, the tug end mainly comprises a main controller, an intelligent navigation terminal, a shipborne navigation device, a mobile terminal, a propeller module, a generator module and a steering engine module. The intelligent navigation terminal displays and carries out human-computer interaction by taking an electronic chart as a base map, has the functions of alarming and voice prompt, has the function of large-screen reproduction, can realize multi-target track multi-mode planning and obstacle avoidance based on the electronic chart, a short-distance collision avoidance early warning function, shore-based operation management and oil consumption statistics, and a shore end user mainly issues instructions or control information to a towing wheel end, monitors the state of the towing wheel in real time and processes data information returned by the towing wheel end, and has some charging base stations at the shore end, so that a single module can be charged at any time for use.
When the modular tug cluster work designed by the invention is carried out, the cluster not only comprises clusters among modules, but also comprises clusters among multi-module combined tugs, the most important of the two cluster works is the consistency of the magnitude and direction of drag force or thrust among the modules and the sending and execution time of control instructions, and before the cluster work, the information of tonnage, position, target point and the like of a tug is calculated to determine the number, position, magnitude of drag force or thrust and the like of the tug. As shown in fig. 4, a flowchart of a control method for tug boat cluster operation is shown, and the specific control flow is as follows:
step 1, detecting operation environment information, motion state information of a tug, position information of a tug and the like through a relevant sensor on the tug;
and 5, converting the drag force or the thrust into a control command and transmitting the control command to each tug module, and carrying out towing operation after the tug module receives the command.
The invention designs a hybrid power energy system based on a power battery, a diesel generator set, solar energy and wind energy aiming at a modularized tug. As shown in fig. 5, the top layer is a shore-based control center, and the top layer is used for setting system parameters and storing running state data; the second layer is a power system at the end of the towing wheel, and mode judgment and selection are carried out according to data uploaded by each module controller; the third layer is an energy control unit of each unit, executes the lower computer command and manages the sub energy system; the shore-based control center is communicated with the tug-end control center through a network, the tug-end control center is communicated with the sub-control units through a bus, and the system is subjected to hierarchical management control. The nuclear new of the hybrid power system is energy management, the energy management in the design applies a logic threshold control strategy, the hybrid energy is divided into 7 working modes, namely a battery pack power supply mode, a hybrid power supply mode, a diesel generator power supply mode, a regenerative braking mode, a shore power mode, a solar charging mode and a wind power charging mode, in the 7 working modes, the solar and wind power generation devices are always in a working state, the working modes of the hybrid power system are judged and selected through preset parameters, and as shown in fig. 6, the specific control flow is as follows:
step 1, carrying out energy detection on a system;
and 4, when the power required by the system is less than 0 and the battery is not greater than the upper limit value, performing regenerative braking, otherwise, returning to the step 1.
In summary, the invention provides a control method of a modular unmanned intelligent tug. The modularized unmanned intelligent tug is different from a traditional tug control method, can independently complete related tasks according to the control method, and realizes navigation, target detection and obstacle avoidance through a detection device of a ship body, including vision, GPS, infrared and the like, so that manual operation is not needed, and the problem of potential safety hazard in manual operation is solved; the multi-module structure enables the tug to realize cluster operation, and improves the working efficiency of the tug; the tug replaces the traditional power supply mode with the energy electric propulsion system, not only fully utilizes new energy, but also manages multiple energy sources, reasonably supplies power, and accords with the development direction of greenization.
Those of ordinary skill in the art will understand that: the figures are for the reader's understanding only and the blocks or flows in the figures are not necessarily required to practice the invention.
While the present invention has been described in detail with reference to the preferred embodiments, it should be understood that the above description should not be taken as limiting the invention. Various modifications and alterations to this invention will become apparent to those skilled in the art upon reading the foregoing description. Accordingly, the scope of the invention should be determined from the following claims.
Claims (1)
1. A control method of a modularized unmanned intelligent tug is characterized by comprising a multi-module combination cluster control method and a multi-energy management method; wherein: the tug module is controlled by a control center to complete a towing task;
the control of the single tug module comprises a bank end and a tug end, the bank end and the tug end are communicated through a wireless network, and the bank end comprises a monitoring command control center, a user and a charging base station; the tug end comprises a main controller, a mobile terminal, navigation equipment, an intelligent navigation terminal, a generator, a steering engine and other modules;
the multi-module combined tug cluster control method mainly comprises the steps of calculating and distributing environment perception, drag force or thrust to send drag force or thrust instructions to all tug modules;
the multi-energy management method comprises a battery pack management system, a diesel generating set controller, a solar controller and a wind energy controller;
the control method of the modularized unmanned intelligent tug mainly carries out cluster control on the combined multi-module tug, and the specific control flow is as follows:
step 1, detecting operation environment information, motion state information of a tug, position information of a tug and the like through a relevant sensor on the tug;
step 2, realizing optimal path planning for the towing wheel according to the relevant information detected in the step 1, and effectively avoiding obstacles;
step 3, feeding back the information to the controller;
step 4, calculating the total drag force or thrust required by the towed wheels, and performing optimal distribution on the drag force or thrust;
step 5, converting the drag force or the thrust into a control command and transmitting the control command to each tug module, and carrying out towing operation after the tug module receives the command;
the combination among the multi-tug modules is completed through automatic butt joint devices arranged on the periphery of the modules, each device comprises a male head device, a female head device, a rotating device and a connecting cone, the butt joint modules detect the positions and butt joint information of the butted modules through detection modules, the male head devices are in butt joint with the female head devices, alignment is carried out through infrared detection modules, whether the male heads completely extend into the female head devices is detected, and if the male heads completely extend into the female head devices, the butt joint is successful;
the automatic connecting device for the towing cables is arranged on a deck of the towing wheel module and comprises an intelligent trolley and a trolley moving guide rail, wherein the intelligent trolley comprises a trolley base containing a control module, a power supply module and a detection module, an upper building and a fixed ring fixed on the upper building, the trolley runs on the guide rail along with the position of the released towing cables and is locked at the position closest to the position, at the moment, the fixed ring starts to run and rotates along with the direction of the towing cables, the towing cables are waited to pass through after being stabilized, and the infrared rays in the ring lock the ring after detecting that the towing cables pass through the ring, so that the connection of the towing cables is completed;
the energy management method mainly manages a multi-energy-source propulsion power system composed of solar energy, wind energy and diesel oil for power generation, the working states of the hybrid propulsion tug are divided into seven modes, namely a battery pack power supply mode, a hybrid power supply mode, a diesel oil generator power supply mode, a regenerative braking mode, a shore power mode, a solar charging mode and a wind energy charging mode, a logic threshold value control strategy is used in the system, the working modes of the hybrid power system are judged and selected through a set of preset parameters, the power distribution of the battery pack, a generator set, the solar energy and the wind energy is controlled, and parameter values are adjusted repeatedly through tests. The specific control flow is as follows:
step 1, carrying out energy detection on a system;
step 2, judging the power required by the system, if the power is equal to 0, carrying out shore power charging or solar energy and wind energy charging, and if the power is not equal to 0, continuously judging the battery state;
step 3, when the power required by the system is greater than 0 and the battery is greater than the state value, the battery is adopted for supplying power, if the power is less than the state value, the battery is continuously compared with the lower limit value of the battery, if the power is less than the lower limit value, the generator is adopted for supplying power, and if the power is not less than the lower limit value, the generator is adopted for supplying power, otherwise;
and 4, when the power required by the system is less than 0 and the battery is not greater than the upper limit value, performing regenerative braking, otherwise, returning to the step 1.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202011380381.2A CN112394735A (en) | 2020-11-30 | 2020-11-30 | Control method of modular unmanned intelligent tug |
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| CN202011380381.2A CN112394735A (en) | 2020-11-30 | 2020-11-30 | Control method of modular unmanned intelligent tug |
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| CN112394735A true CN112394735A (en) | 2021-02-23 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116540730A (en) * | 2023-05-30 | 2023-08-04 | 武汉理工大学 | Multi-tug cooperation berthing intelligent auxiliary system and method |
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2020
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116540730A (en) * | 2023-05-30 | 2023-08-04 | 武汉理工大学 | Multi-tug cooperation berthing intelligent auxiliary system and method |
| CN116540730B (en) * | 2023-05-30 | 2024-04-19 | 武汉理工大学 | Multi-tug cooperation berthing intelligent auxiliary system and method |
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Application publication date: 20210223 |
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