阅读说明：本技术 一种基于转向河道的无动力船辅助驱动设备及其驱动方法 (Unpowered ship auxiliary driving equipment based on steering river channel and driving method thereof ) 是由 郭兴华 陶季芳 陈婷婷 王威 刘舜玲 陆萍 郭艳秀 郭中华 韩琳琳 于 2021-09-08 设计创作，主要内容包括：本发明公开了一种基于转向河道的无动力船辅助驱动设备及其驱动方法,包括：设置在无动力船两侧的若干拖轮组,拖轮组包括：对称设置在无动力船前部的两个主拖轮以及对称设置在无动力船后部的主拖轮。在每个主拖轮内均设置前端卷收器、中部卷收器和尾部卷收器,前端卷收器通过倒揽连接无动力船侧面,中部卷收器通过第一拖揽连接无动力船侧面,尾部卷收器通过第二拖揽连接无动力船侧面。在无动力船前方50-100米处设置探测无人机,探测无人机用于探测风速水流流速。根据横向受力角α,灵活调整若干个主拖轮的总驱动力,同时调整无动力船两侧的主拖轮与虚拟对称线之间的夹角β,精准克服风力干扰,确保无动力船能够沿设定方向前进。(The invention discloses an unpowered ship auxiliary driving device based on a steering river channel and a driving method thereof, wherein the driving method comprises the following steps: set up a plurality of tow boat groups in unpowered ship both sides, tow boat group includes: the two main tugs are symmetrically arranged at the front part of the unpowered ship and the main tug is symmetrically arranged at the rear part of the unpowered ship. A front end retractor, a middle retractor and a tail retractor are arranged in each main tug, the front end retractor is connected with the side face of the unpowered boat through a cable-backing device, the middle retractor is connected with the side face of the unpowered boat through a first cable-backing device, and the tail retractor is connected with the side face of the unpowered boat through a second cable-backing device. A detection unmanned aerial vehicle is arranged 50-100 meters in front of the unpowered ship and used for detecting the wind speed and the water flow velocity. According to the transverse stress angle alpha, the total driving force of the main tugs is flexibly adjusted, and meanwhile, the included angle beta between the main tugs on the two sides of the unpowered ship and the virtual symmetrical line is adjusted, so that wind interference is accurately overcome, and the unpowered ship is ensured to advance along the set direction.)

1. An unpowered vessel auxiliary drive device based on a steering river channel, comprising: a plurality of tug boat groups arranged at both sides of the unpowered boat and is characterized in that,

the tow wheel group includes: the two main tugs are symmetrically arranged at the front part of the unpowered ship and the main tugs are symmetrically arranged at the rear part of the unpowered ship;

a front end retractor, a middle retractor and a tail retractor are arranged in each main tug, the front end retractor is connected with the side surface of the unpowered ship through a reverse cable, the middle retractor is connected with the side surface of the unpowered ship through a first cable, and the tail retractor is connected with the side surface of the unpowered ship through a second cable;

the semi-submersible ship is arranged at the front end of the unpowered ship, the semi-submersible ship is arranged below the unpowered ship, and the detection unmanned aerial vehicle is arranged 50-100 meters in front of the unpowered ship and used for detecting the wind speed and the water flow velocity.

2. The unpowered boat auxiliary driving device based on the steering river channel as claimed in claim 1, wherein: an emergency tug is arranged on one side of the unpowered ship and used for assisting in adjusting the operation posture of the unpowered ship.

3. The driving method of the unpowered boat auxiliary driving device based on the steering river channel is characterized by comprising the following steps of:

step S1: when the unpowered ship moves to a curve, a detection unmanned plane in front of the unpowered ship can detect the wind speed and the water flow velocity of the environment, and basic data are provided for the power of each tug and the cable laying rate of each cable;

step S2: when the cable laying rate of the first and second streamers on the main tug at the left side of the unpowered ship is increased, the cable laying rate of the reverse streamers is reduced; the cable releasing rates of the first and second cables on the main tug at the right side of the unpowered ship are reduced, and when the cable releasing rate of the cables is increased, the unpowered ship is adjusted towards the right side;

step S3: when the cable laying rate of the first and second streamers on the main tug at the left side of the unpowered ship is reduced, the cable laying rate of the reverse streamers is increased; and when the cable releasing rate of the first and second cables on the main tug at the right side of the unpowered ship is increased and the cable releasing rate of the cables is reduced, the unpowered ship is adjusted towards the left side.

4. The unpowered boat auxiliary driving device based on the steering river channel as claimed in claim 3, wherein: and setting a symmetry axis in the width direction of the unpowered ship as a virtual symmetry line, and adjusting included angles beta between a plurality of main tugs on two sides of the unpowered ship and the virtual symmetry line so as to overcome the flow speed difference of water flows on two sides of the unpowered ship and enable the unpowered ship to advance along the set direction.

5. The method for driving the unpowered vessel auxiliary driving device based on the steering river channel as claimed in claim 4, wherein the method for adjusting the heading of the unpowered vessel according to the wind speed comprises the following steps:

step S1.1: when wind blows from the left side of the unpowered ship, an included angle between a wind direction and a virtual symmetrical line is used as a transverse stress angle alpha, and a formula Wp & gtcos alpha & ltF & gtcos beta & ltformula, wherein Wp is the wind power and F is the total driving force of a plurality of main tugs;

step S1.2: according to the fact that the included angle between the wind direction and the virtual symmetrical line is the transverse stress angle alpha, the total driving force of the main tugs is adjusted, meanwhile, the included angle beta between the main tugs on the two sides of the unpowered ship and the virtual symmetrical line is adjusted, wind interference is overcome, and the unpowered ship always keeps the set direction to advance.

6. The driving method of the unpowered ship auxiliary driving device based on the steering river channel as claimed in claim 3, wherein the driving method comprises the following steps: the calculation formula of the whole width of the unpowered ship is as follows: h_{General assembly}＝H_{Ship with a detachable hull}+(H_{Mop 1}+H_{Mop 2}) XA, formula, H_{General assembly}The overall width of the unpowered vessel, H_{Ship with a detachable hull}Is the actual width of the unpowered vessel，H_{First of all}The width of the main tug and the cable laying rate A.

7. The driving method of the unpowered ship auxiliary driving device based on the steering river channel as claimed in claim 6, wherein: the formula for calculating the cable laying rate is as follows: a ═ L₁/(L₁+L₂) In the formula, L₁For cable release length, L₂Length of cable winding (L)₁+L₂) The total length of the cable.

8. The driving method of the unpowered ship auxiliary driving device based on the steering river channel as claimed in claim 3, wherein the driving method comprises the following steps: the cable laying rate of the reverse cable, the first towing cable and the second towing cable is changed respectively, so that the attaching degree between the main towing wheel and the unpowered ship is changed.

9. The driving method of the unpowered ship auxiliary driving device based on the steering river channel as claimed in claim 3, wherein the driving method comprises the following steps: the head of the ship is driven to ascend and descend by utilizing the fine adjustment of the semi-submersible ship so as to finely adjust the draught difference between the head of the ship and the stern of the ship, change the action points of wind power and water power, increase the deflection damping and realize the suppression of deflection.

10. The driving method of the unpowered ship auxiliary driving device based on the steering river channel as claimed in claim 3, wherein the driving method comprises the following steps: the unmanned aerial vehicle is also used for detecting whether an obstacle exists in front of the unpowered ship or not and the position, the wave size and the wave position of the obstacle.

Technical Field

The invention relates to the technical field of shipping, in particular to unpowered ship auxiliary driving equipment based on a steering river channel and a driving method thereof.

Background

The unpowered ship has certain risks in the towing process of the water areas in the Yangtze river, and is greatly influenced by factors such as the natural environment of the Yangtze river, the conditions of sailing water areas, the traffic conditions of the water areas and the like in the towing process. The towed unpowered hull is not provided with professional facilities for power generation, communication, illumination, signals and the like, and needs to be temporarily configured. If the main tug suddenly stops for some reason, the tug boat has great inertia, and this may result in the danger of dragging transversely, dragging backwards and even colliding with the tug ahead. The unpowered ship has the advantages that the size and the water discharge amount of the ship body are large, the unpowered ship is easily influenced by factors such as wind and flow, the ship position is difficult to adjust and control, the ship body freeboard is higher than a tug, the tug is difficult to tether, and the exertion of the power of the tug is influenced.

The tug boat towing unpowered ship transportation is developed to adapt to the characteristics of the channel of the Yangtze river. Compared with the transportation by a motor cargo ship, due to the limitation of the clearance height of the bridge, if the outfitting is carried out on the newly-manufactured ship in the dock, the newly-manufactured ship cannot pass through the bridge. Therefore, it is necessary to tow a newly-built ship to a wharf at a downstream of the Yangtze river by using a tug and a cable to perform operations such as assembling a superstructure of the ship.

Because the size and the height of the fleet are large, the fleet is influenced by natural conditions such as wind waves, wind directions, water flow directions and the like during navigation, certain conditions of up-and-down jolting and left-and-right drifting can be caused, particularly, when the fleet is steered, the water flows on two sides of the unpowered ship are obviously different, and the overall stability is extremely poor during traveling. On the other hand, when passing under a bridge, if the influence of natural conditions such as wind current is too large, there is a risk that the ship hits the bridge. The wind-receiving area is large when the ship is in no load, and the towing operation of the whole fleet can be seriously influenced when the wind power is large.

Disclosure of Invention

The invention overcomes the defects of the prior art and provides the unpowered ship auxiliary driving equipment based on the steering river channel and the driving method thereof.

In order to achieve the purpose, the invention adopts the technical scheme that: an unpowered vessel auxiliary drive device based on a steering river channel, comprising: set up a plurality of tow boat groups in unpowered ship both sides, tow boat group includes: the two main tugs are symmetrically arranged at the front part of the unpowered ship and the main tug is symmetrically arranged at the rear part of the unpowered ship.

Every all set up front end coiler, middle part coiler and afterbody coiler in the main tow boat, front end coiler is through falling the cable connection unpowered ship side, middle part coiler is through first cable connection unpowered ship side, afterbody coiler is through second cable connection unpowered ship side.

The semi-submersible ship is arranged at the front end of the unpowered ship, the semi-submersible ship is arranged below the unpowered ship, and the detection unmanned aerial vehicle is arranged 50-100 meters in front of the unpowered ship and used for detecting the wind speed and the water flow velocity.

In a preferred embodiment of the invention, an emergency tug is arranged on one side of the unpowered ship and is used for assisting in adjusting the operation posture of the unpowered ship.

The other technical scheme adopted by the invention is as follows: a driving method of unpowered ship auxiliary driving equipment based on a steering river channel comprises the following steps:

step S1: when the unpowered ship travels to a curve, the detection unmanned plane in front of the unpowered ship can detect the wind speed and the water flow velocity of the environment, and basic data are provided for the power of each tug and the cable laying rate of each cable.

Step S2: when the cable laying rate of the first and second streamers on the main tug at the left side of the unpowered ship is increased, the cable laying rate of the reverse streamers is reduced; and the cable releasing rates of the first and second cables on the main tug at the right side of the unpowered ship are reduced, and when the cable releasing rate of the cables is increased, the unpowered ship is adjusted towards the right side.

Step S3: when the cable laying rate of the first and second streamers on the main tug at the left side of the unpowered ship is reduced, the cable laying rate of the reverse streamers is increased; and when the cable releasing rate of the first and second cables on the main tug at the right side of the unpowered ship is increased and the cable releasing rate of the cables is reduced, the unpowered ship is adjusted towards the left side.

In a preferred embodiment of the invention, the symmetry axis in the width direction of the unpowered ship is set as a virtual symmetry line, and the included angle beta between each of the main tugs on the two sides of the unpowered ship and the virtual symmetry line is adjusted to overcome the flow speed difference of water flow on the two sides of the unpowered ship and enable the unpowered ship to advance along the set direction.

In a preferred embodiment of the invention, the method for adjusting the course of the unpowered ship according to the wind speed comprises the following steps:

step S1.1: when wind blows from the left side of the unpowered ship, an included angle between a wind direction and a virtual symmetrical line is used as a transverse stress angle alpha, and a formula Wp & gt cos alpha & lt F & gt cos beta is calculated, wherein Wp is the wind power, and F is the total driving force of a plurality of main tugs.

Step S1.2: according to the fact that the included angle between the wind direction and the virtual symmetrical line is the transverse stress angle alpha, the total driving force of the main tugs is adjusted, meanwhile, the included angle beta between the main tugs on the two sides of the unpowered ship and the virtual symmetrical line is adjusted, wind interference is overcome, and the unpowered ship always keeps the set direction to advance.

In a preferred embodiment of the present invention, the calculation formula of the overall width of the unpowered vessel is as follows: h_{General assembly}＝H_{Ship with a detachable hull}+(H_{Mop 1}+H_{Mop 2}) XA, formula, H_{General assembly}The overall width of the unpowered vessel, H_{Ship with a detachable hull}Actual width of the unpowered vessel, H_{First of all}The width of the main tug and the cable laying rate A.

In a preferred embodiment of the present invention, the formula for calculating the cable laying rate is as follows: a ═ L₁/(L₁+L₂) In the formula, L₁For cable release length, L₂Length of cable winding (L)₁+L₂) The total length of the cable.

In a preferred embodiment of the invention, the cable laying rate of the reverse cable, the first cable and the second cable is respectively changed to change the fitting degree between the main tug and the unpowered ship.

In a preferred embodiment of the invention, the head of the ship is driven to ascend and descend by utilizing the fine adjustment of the semi-submersible ship so as to finely adjust the draught difference between the head of the ship and the stern of the ship, change the action points of wind power and water power, increase the oscillation damping and realize the inhibition of the oscillation.

In a preferred embodiment of the invention, the drone is also used to detect the presence of obstacles in front of the unpowered vessel and their location, wave size and position.

The invention solves the defects in the background technology, and has the following beneficial effects:

(1) according to the unpowered ship, the total driving force of the main tugs can be flexibly adjusted according to the transverse stress angle alpha, the included angle beta between the main tugs on the two sides of the unpowered ship and the virtual symmetrical line is adjusted, wind interference is accurately overcome, the unpowered ship can be ensured to advance along the set direction, meanwhile, the total driving force and the included angle beta of the main tugs are used for carrying out adaptive adjustment according to conditions, the operable range is wider, and the overall operation is more practical.

(2) According to the invention, the detection unmanned aerial vehicle arranged in front of the unpowered ship can detect the flow velocity of water flow in the environment in time, and provide basic data for the power of each tug and the cable laying rate of each cable, so that the unpowered ship overcomes the flow velocity difference of water flow on two sides of the unpowered ship under the driving of the main tug, and the unpowered ship is ensured to move forward along a set direction all the time.

(3) According to the invention, the cable pay-off rate of each cable is controlled by the retractor, the connection tightness between the deck barge and the unpowered ship is changed, the overall width of the unpowered ship is adjusted, so that the overall stress area of the unpowered ship and the tug is adjusted, and the stability of the unpowered ship body during dragging is enhanced.

(4) The unmanned aerial vehicle can also detect whether an obstacle exists in front of the unpowered ship or not and the position of the obstacle, the size of waves and the position of the waves. The basic data provided for the power of each tug and the cable laying rate of each cable is further perfected, the unpowered ship is effectively prevented from yawing, and the course control is more accurate. Meanwhile, the control of the cable laying rates of the reverse cable, the first towing cable and the second towing cable are not influenced mutually, so that the attaching degree between the main towing wheel and the unpowered ship can be changed, and the heading can be further controlled.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

FIG. 1 is a schematic plan view of a preferred embodiment of the present invention;

fig. 2 is a schematic plan view of the unpowered vessel of the preferred embodiment of the invention, as affected by wind.

100-unpowered ship, 110-virtual symmetrical line, 120-main tug, 130-emergency tug, 140-reverse tug, 150-first tug, 160-second tug, and 200-channel boundary.

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.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited by the specific embodiments disclosed below.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art through specific situations.

As shown in fig. 1 and 2, an auxiliary driving apparatus of a non-powered boat 100 based on a steering river channel and a driving method thereof includes: set up a plurality of tow boat groups in unpowered ship 100 both sides, tow boat group includes: two main tugs 120 symmetrically disposed at the front of the unpowered vessel 100 and two main tugs 120 symmetrically disposed at the rear of the unpowered vessel 100.

The front end retractor, the middle retractor and the tail retractor are arranged in each main tug 120, the front end retractor is connected with the side face of the unpowered ship 100 through a reverse cable 140, the middle retractor is connected with the side face of the unpowered ship 100 through a first towing cable 150, the tail retractor is connected with the side face of the unpowered ship 100 through a second towing cable 160, an emergency tug 130 is arranged on one side of the unpowered ship 100, the emergency tug 130 assists in adjusting the operation posture of the unpowered ship 100, and the yawing of a ship body is prevented or the course of a fleet is assisted in correcting.

In a preferred embodiment of the present invention, a semi-submersible vessel is disposed at the front end of the unpowered vessel 100, the semi-submersible vessel is disposed below the unpowered vessel 100, and the semi-submersible vessel is used to drive the bow to ascend and descend, so as to change the draft difference between the bow and the stern, so that the action point of wind power moves backward and the action point of water power moves forward, so as to increase the damping of the yaw, thereby realizing the suppression of the yaw, and at the same time, the advancing state of the unpowered vessel 100 is flexibly adjusted by controlling the ascent and descent of the bow, thereby adjusting the resistance of the unpowered vessel 100.

In a preferred embodiment of the present invention, the unpowered vessel 100 can flexibly adjust the total driving force of the plurality of main tugs 120 according to the transverse force angle α, and simultaneously adjust the included angle β between the main tugs 120 on both sides of the unpowered vessel 100 and the virtual symmetry line 110, so as to accurately overcome wind interference, further ensure that the unpowered vessel 100 can advance along the set direction, and meanwhile, can adaptively adjust according to the situation by using two different variable data of the total driving force and the included angle β of the plurality of main tugs 120, so that the operable range is wider, and the overall operation has more practicability.

In a preferred embodiment of the invention, the detection unmanned aerial vehicle is arranged 50-100 meters ahead of the unpowered vessel 100, preferably 60 meters ahead of the unpowered vessel 100, and the detection unmanned aerial vehicle arranged ahead of the unpowered vessel 100 can detect the flow velocity of the water flow in the environment in time, so as to provide basic data for the power of each tug and the cable laying rate of each cable, so that the unpowered vessel 100 overcomes the flow velocity difference of the water flow at two sides of the unpowered vessel 100 under the driving of the main tug 120, and ensures that the unpowered vessel 100 always advances along a set direction.

In a preferred embodiment of the present invention, the overall width of the unpowered vessel 100 is calculated as: h_{General assembly}H boat + (H)_{Mop 1}+H_{Mop 2}) XA, formula, H_{General assembly}Is the overall width, H, of the unpowered vessel 100_{Ship with a detachable hull}Is the actual width of the unpowered vessel 100, H_{First of all}Is the width of the main tug 120, A is the cable laying rate, and the cable laying rate calculation formula is: a ═ L₁/(L₁+L₂) In the formula, L₁Is a cableLength of released cord, L₂Length of cable winding (L)₁+L₂) The total length of the cable; the cable releasing rate of each cable rope is controlled through the retractor, the connection tightness between the deck barge and the unpowered ship 100 is changed, the whole width of the unpowered ship 100 is adjusted, the whole stress area of the unpowered ship 100 and the tug is adjusted, the stability of the unpowered ship 100 during dragging is enhanced, on the other hand, the sailing direction of the unpowered ship 100 can be rapidly adjusted by changing the cable releasing rate, the unpowered ship 100 can be rapidly adjusted according to the width and the direction of a navigation channel, and the synergistic effect between the main tugs 120 is better.

In a preferred embodiment of the present invention, the drone is also capable of detecting the presence of obstacles in front of the unpowered vessel 100 and their location, wave size and position. The basic data provided for the power of each tug and the cable laying rate of each cable is further perfected, the unpowered ship 100 is effectively prevented from yawing, and the course control of the unpowered ship is more accurate.

In a preferred embodiment of the invention, the cable laying rates of the cable laying back 140, the first cable laying back 150 and the second cable laying back 160 are respectively changed to change the attaching degree between the main tug 120 and the unpowered ship 100, the control of the cable laying rates of the cable laying back 140, the first cable laying back 150 and the second cable laying back 160 are not affected mutually, so that the attaching degree between the main tug 120 and the unpowered ship 100 can be changed, and the heading can be further controlled.

In use of the present invention, when the unpowered vessel 100 is traveling around a curve, the detection drone in front of the unpowered vessel 100 will detect the wind speed and the current velocity of the environment, providing basic data for the power of each tug and the payout of each cable. When the cable laying rate of the first and second streamers 150 and 160 on the main tug 120 at the left side of the unpowered vessel 100 is increased, and the cable laying rate of the reverse cable 140 is decreased; the cable laying rate of the first and second streamers 150 and 160 on the main tug 120 at the right side of the unpowered vessel 100 is reduced, and when the cable laying rate of the streamers is increased, the unpowered vessel 100 is adjusted towards the right side. When the cable laying rate of the first and second streamers 150 and 160 on the main tug 120 at the left side of the unpowered vessel 100 is reduced, the cable laying rate of the reverse cable 140 is increased; the cable laying rate of the first and second streamers 150 and 160 on the main tug 120 at the right side of the unpowered vessel 100 is increased, and when the cable laying rate of the streamers is decreased, the unpowered vessel 100 is adjusted in the left direction.

It should be noted that the symmetry axis in the width direction of the unpowered vessel 100 is set as the virtual symmetry line 110, and the included angle β between each of the main tugs 120 on both sides of the unpowered vessel 100 and the virtual symmetry line 110 is adjusted to overcome the flow speed difference of the water flow on both sides of the unpowered vessel 100, so that the unpowered vessel 100 moves forward along the set direction.

In a preferred embodiment of the present invention, when wind blows from the left side of the unpowered vessel 100, an included angle between the wind direction and the virtual symmetric line 110 is taken as a transverse force-receiving angle α, and a formula Wp ═ cos α ═ F ═ cos β is calculated, where Wp is the wind power and F is the total driving force of the plurality of main tugs 120; according to the fact that the included angle between the wind direction and the virtual symmetrical line 110 is a transverse stress angle alpha, the total driving force of the main tugs 120 is adjusted, meanwhile, the included angle beta between the main tugs 120 on the two sides of the unpowered ship 100 and the virtual symmetrical line 110 is adjusted, wind interference is overcome, and the unpowered ship 100 always keeps a set direction to advance.

It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.