Intelligent assistance system and method for berthing and unberthing based on multi-tugboat collaboration

US12091137B1 · kind B1 · utility

Assignee

• WUHAN UNIVERSITY OF TECHNOLOGY · CN

Inventors

• Linying Chen · Hubei, CN
• Yamin Huang · Singapore, SG
• Pengfei Chen · Hubei, CN
• Jinhong He · 红钢城街道, CN
• Mengxia Li · Hubei, CN
• Junmin Mou · Hubei, CN

Key dates

• Filing date: May 7, 2024
• Grant date: Sep 17, 2024
• Expiry date: May 7, 2044

Classification

• Technology area (CPC Y): Emerging Cross-Sectional Technologies
• CPC primary: Y02A30/30
• WIPO field: Transport
• WIPO sector: Mechanical engineering

Abstract

An intelligent assistance system and a method for berthing and unberthing based on multi-tugboat collaboration are provided. The system includes an upper-level controller, a lower-level controller and a physical layer hardware module, the upper-level controller is used to process obtained ship data based on MPC algorithm, to obtain expected ship position, expected ship velocity, and environmental resistance information, and to process them based on the cost function to obtain expected trajectory and power of the tugboat; the lower-level controller communicates and connects with the upper-level controller to receive the upper-level controller, processes the expected trajectory, power, and environmental resistance information of the sent tugboat based on MPC algorithm to obtain working mode selection information, and receives control instructions sent by the upper-level controller and obtains propeller data information; the physical layer hardware module communicates with the lower-level controller to receive propeller data information and perform berthing and unberthing operations.