US 12,091,137 B1 · Intelligent assistance system and method for berthing and unberthing based on multi-tugboat collaboration

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.

An intelligent assistance system for berthing and unberthing based on multi-tugboat collaboration, comprising:

an upper-level controller, which is used to process obtained ship data based on model predictive control (MPC) algorithm, to obtain an expected ship position, an expected ship velocity, and environmental resistance information, to adaptively weight the expected ship position and the expected ship velocity based on a cost function to obtain adaptive weight coefficients, to process the adaptive weight coefficients, the expected ship position and the expected ship velocity through a minimum cost function to obtain an expected trajectory and expected tugboat power, to select a working mode of the tugboat based on work mode selection information, and to determine control instructions for coordinating multiple tugboats based on the working mode of the tugboat, wherein the working mode of the tugboat comprises a pushing mode or a towing mode, the ship data comprise:
an expected stern position, a ship velocity, obstacle position information, and wind resistance information, and the expected tugboat power comprises:
a towing force or a pushing force;
a lower-level controller, which is connected to the upper-level controller for receiving the expected trajectory, the expected tugboat power, and the environmental resistance information of the tugboat sent by the upper-level controller, for processing the expected trajectory, the expected tugboat power, and the environmental resistance information of the tugboat based on the MPC algorithm to obtain the work mode selection information, for sending the work mode selection information to the upper-level controller, for receiving the control instructions sent by the upper-level controller, and for obtaining data information of a propeller based on the control instructions;
and
a physical layer hardware module, which is connected to the lower-level controller in communication for receiving the data information of the propeller sent by the lower-level controller, and performing multi-tugboat collaborative berthing and unberthing operations based on the data information of the propeller;
wherein, in the pushing mode of the tugboat, an adaptive position weight coefficient and an adaptive velocity weight coefficient of the adaptive weight coefficients are expressed as follows:
w1=diag(1,1,1),w2=diag(150,150,150);
where w1 is an adaptive position weight, w2 is an adaptive velocity weight;
in the towing mode of the tugboat, the adaptive position weight coefficient and the adaptive velocity weight coefficient are expressed as follows:
w
1
=
diag
⁡
(
1
,
1
,
1
)
;
w
2
=
diag
⁡
(
w
u
(
t
)
,
w
v
(
t
)
,
w
r
(
t
)
)
;
w
u
(
t
)
=
w
v
(
t
)
=
w
r
(
t
)
=
k
0
(
1
+
V
w
(
t
)
)
⁢
(
d
⁡
(
t
)
d
0
)
;
d
0
=
(
x
S
d
-
x
S
0
)
2
-
(
y
S
d
-
y
S
0
)
2
;
d
⁡
(
t
)
=
(
x
S
d
-
x
S
(
t
)
)
2
-
(
y
S
d
-
y
S
(
t
)
)
2
;
w
2
⁢
t
(
t
)
=
diag
(
w
ut
(
t
)
;
w
ut
(
t
)
=
w
vt
(
t
)
=
K
t
[
1
-
V
w
(
t
)
V
w
(
t
)
+
K
1
]
;
w
rt
(
t
)
=
K
t
[
1
-
V
w
(
t
)
V
w
(
t
)
+
K
2
]
;
where w1 is the adaptive position weight, w2 is the adaptive velocity weight, d0 is a distance from an initial position to a target point, d(t) is a distance from a current position to the target point, which is a position error, K0, Kt, K1, and K2 are represented as positive coefficients, K0 and Kt are an initial value and a final value of weights respectively, and w2t(t) is the final value of the velocity weight;
wherein:
JS(t)=eSnT(t)w1(t)eSn(t)+eSvT(t)w2(t)eSv(t);
eSn(t)=nSc(t)−nSd;
eSv(t)=vSc(t)−vSd;
where JS(t) is the minimum cost function, and an angle formed between required power and a ship to be served can be regarded as the minimum cost function, eSn(t) and eSv(t) are a position error and a velocity error respectively, w1(t) and w2(t) are adaptive weights, and nSc(t) and vSc(t) are a real-time ship position and a real-time ship velocity calculated through time discretization prediction, respectively.

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

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

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Abstract

Claims9