Method and apparatus for automatically berthing ship

Abstract

The present disclosure relates to a method and an apparatus for automatically berthing a ship. According to an embodiment of the present invention, a method for automatically berthing a ship may comprise the steps of: setting an alignment position of the ship by using a berthing position of the ship; generating a movement path from the alignment position to the berthing position; and controlling the ship so that the ship moves along the movement path from the alignment position to the berthing position.

Description

Method and device for automatically docking a vessel

[0001] The present disclosure relates to a method and device for automatically docking a vessel.

[0002] Typically, users of small vessels steer and throttle to berth or dock. However, due to the inexperience of users of recreational vessels and the influence of environmental disturbances such as currents and winds, berthing or docking in confined spaces can be challenging. Furthermore, vessel accidents most frequently occur during berthing or docking, making it difficult for the general public to easily operate or control recreational vessels.

[0003] To address these inconveniences and difficulties, ship engine manufacturers are introducing technology that utilizes joysticks to facilitate ship maneuvering during berthing or docking. However, these still require human control, and due to the ship's inherent maneuverability, they still pose a risk of accidents when untrained or exposed to strong winds or currents. Bow thrusters and stern thrusters also assist in controlling ship berthing or docking, but these devices must be incorporated into the ship's construction process, making the system complex and costly.

[0004] Accordingly, there is a need to develop technology that can automatically dock or berth a ship at an accurate location.

[0005] The background technology described above is technical information that the inventor possessed for the purpose of deriving the present invention or acquired in the process of deriving the present invention, and cannot necessarily be considered as publicly known technology disclosed to the general public prior to the application for the present invention.

[0006] The present disclosure provides a method and device for automatically docking a vessel. The problems addressed by the present invention are not limited to those mentioned above. Other problems and advantages of the present invention, not mentioned above, can be understood through the following description and will be more clearly understood through examples of the present invention. Furthermore, it will be appreciated that the problems and advantages addressed by the present invention can be realized by the means and combinations thereof set forth in the claims.

[0007] As a technical means for achieving the above-described technical task, a first aspect of the present disclosure may include a method for automatically docking a vessel, comprising: a step of setting an alignment position of the vessel using a berthing position of the vessel; a step of generating a movement path from the alignment position to the berthing position; and a step of controlling the vessel so that the vessel moves along the movement path from the alignment position to the berthing position.

[0008] A second aspect of the present disclosure is a device for automatically docking a vessel, comprising at least one memory and at least one processor, wherein the at least one processor generates a movement path from the vessel's alignment position to the docking position using the vessel's current position and the vessel's docking position, controls the vessel to move along the movement path, and determines whether the vessel has successfully docked based on one of the distance between a docking point within the vessel and the docking position and the distance between the vessel's center point and the movement path.

[0009] A third aspect of the present disclosure can provide a computer-readable recording medium having recorded thereon a program for executing the method according to the first aspect on a computer.

[0010] In addition, other methods for implementing the present invention, other systems, and computer-readable recording media storing a computer program for executing the method may be further provided.

[0011] Other aspects, features and advantages other than those described above will become apparent from the following drawings, claims and detailed description of the invention.

[0012] According to the problem solving means of the present disclosure described above, the present disclosure automatically performs control of the ship's berthing or docking, thereby enabling users who are inexperienced in ship driving or steering to easily operate the ship and enjoy complete leisure activities free from the stress of ship steering.

[0013] In addition, the present disclosure can significantly reduce the possibility of accidents that may occur when a ship is docked or berthed.

[0014] In addition, in the present disclosure, the relative distance and relative angle between the trailer and the vessel can be accurately calculated during the process of berthing the vessel, thereby enabling safe and rapid berthing.

[0015] In addition, in the present disclosure, safe docking can be performed by creating a straight docking path to reduce the probability of an accident occurring during docking.

[0016] The effects of the embodiments are not limited to the effects mentioned above, and other effects not mentioned will be clearly understood by those skilled in the art from the description of the present invention.

[0017] Figure 1 is a conceptual diagram illustrating a method of docking a vessel according to one embodiment.

[0018] Figure 2 is a block diagram of an eyepiece device according to one embodiment.

[0019] FIG. 3 is an exemplary configuration diagram of a system including an eyepiece device and an external device according to one embodiment.

[0020] Figure 4 is a flowchart illustrating a method of docking a vessel according to one embodiment.

[0021] FIG. 5A is an exemplary drawing for explaining a method of setting an alignment position and an alignment area according to one embodiment.

[0022] FIG. 5b is an exemplary drawing for explaining a method of generating a movement path according to one embodiment.

[0023] Figure 6 is a flowchart illustrating a method for determining whether a ship has successfully docked according to one embodiment.

[0024] FIGS. 7 and 8 are exemplary drawings for explaining a case in which berthing of a ship fails according to one embodiment.

[0025] FIG. 9 is an exemplary drawing for explaining a method of controlling a vessel so that the distance between a docking point and a docking position is maintained within a predetermined distance according to one embodiment.

[0026] According to one embodiment of the present disclosure, a method for automatically docking a vessel may include: setting an alignment position of the vessel using a docking position of the vessel; generating a movement path from the alignment position to the docking position; and controlling the vessel to move along the movement path from the alignment position to the docking position.

[0027] According to another embodiment of the present disclosure, a device for automatically docking a vessel comprises at least one memory and at least one processor, wherein the at least one processor generates a movement path from an alignment position of the vessel to the docking position using the vessel's current position and the vessel's docking position, controls the vessel to move along the movement path, and determines whether the vessel has successfully docked based on one of a distance between a docking point within the vessel and the docking position and a distance between a center point of the vessel and the movement path.

[0028] According to another embodiment of the present disclosure, a computer-readable recording medium having recorded thereon a program for executing a method for automatically docking a vessel on a computer can be provided.

[0029] The advantages and features of the present invention, and the methods for achieving them, will become clearer with reference to the embodiments described in detail together with the accompanying drawings. However, the present invention is not limited to the embodiments presented below, but may be implemented in various different forms, and it should be understood that it includes all transformations, equivalents, and substitutes included in the spirit and technical scope of the present invention. The embodiments presented below are provided to ensure that the disclosure of the present invention is complete and to fully inform those skilled in the art of the scope of the invention. In describing the present invention, if a detailed description of a related known technology is judged to obscure the gist of the present invention, the detailed description thereof will be omitted.

[0030] The terminology used in this application is only used to describe specific embodiments and is not intended to limit the present invention. The singular expression includes the plural expression unless the context clearly indicates otherwise. In this application, it should be understood that the terms "comprise" or "have" indicate the presence of a feature, number, step, operation, component, part, or combination thereof described in the specification, but do not exclude in advance the possibility of the presence or addition of one or more other features, numbers, steps, operations, components, parts, or combinations thereof.

[0031] Some embodiments of the present disclosure may be represented by functional block configurations and various processing steps. Some or all of these functional blocks may be implemented by various hardware and / or software configurations that perform specific functions. For example, the functional blocks of the present disclosure may be implemented by one or more microprocessors or by circuit configurations for a given function. Furthermore, for example, the functional blocks of the present disclosure may be implemented in various programming or scripting languages. The functional blocks may be implemented by algorithms that execute on one or more processors. Furthermore, the present disclosure may employ conventional techniques for electronic configuration, signal processing, and / or data processing. Terms such as "mechanism," "element," "means," and "configuration" may be used broadly and are not limited to mechanical and physical configurations.

[0032] Additionally, the connecting lines or connecting members between components depicted in the drawings are merely exemplary representations of functional connections and / or physical or circuit connections. In an actual device, connections between components may be represented by various functional connections, physical connections, or circuit connections that may be replaced or added.

[0033] The present disclosure will be described in detail with reference to the attached drawings below.

[0034] Figure 1 is a conceptual diagram illustrating a method of docking a vessel according to one embodiment.

[0035] Referring to FIG. 1, a docking device (not shown) can automatically perform docking by controlling the vessel (10) when the vessel (10) docks onto a trailer (20). The docking device can be mounted on the outside of the vessel (10), such as on the vessel (10) or a vehicle (40). The configuration of the docking device will be described in detail later with reference to FIGS. 2 and 3.

[0036] The trailer (20) can be physically connected to a vehicle (40). After the vessel (10) is docked to the trailer (20), the vehicle (40) connected to the trailer (20) can move the vessel (10).

[0037] The berthing device can receive information about the current location of the vessel (10). In one embodiment, the berthing device can periodically receive information about the current location of the vessel (10) at predetermined intervals. In another embodiment, the berthing device can receive information about the current location of the vessel (10) based on the distance between the vessel (10) and the dock (30). Specifically, the berthing device can receive information about the current location of the vessel (10) only when the distance between the vessel (10) and the dock (30) is within a predetermined distance. In another embodiment, the berthing device can receive information about the current location of the vessel (10) when a berthing command from the vessel (10) is received.

[0038] The berthing device can receive information about the berthing position (21) of the vessel (10). For example, the berthing device can receive information about the berthing position (21) of the vessel (10) together with a berthing command for the vessel (10).

[0039] Here, the berthing position (21) may refer to a point where a berthing point (11) within the ship (10) must be located for berthing the ship (10). For example, the berthing point within the ship (10) may be located at the bow of the ship (10).

[0040] The berthing device can set the alignment point of the vessel (10) by using information about the berthing position (21) of the vessel (10). In addition, the berthing device can set the alignment point of the vessel (10) by additionally using the current position of the vessel (10) and the berthing position (21), the weather conditions information of the area where the vessel (10) is currently located, wave height information, the size information of the vessel (10), and the length information of the dock (30).

[0041] Here, the berthing device can reduce the occurrence of accidents during berthing by setting the alignment position of the ship (10) so that the ship (10) is positioned in the correct posture at the alignment position before moving to the berthing position (21) and maintaining a stable posture before berthing.

[0042] The berthing device can generate a movement path for the vessel (10) to move from the alignment position to the berthing position (21). For example, the berthing device can generate a movement path including the attitude and speed of the vessel (10) at each position during the movement from the alignment position to the berthing position (21) when generating the movement path.

[0043] In one embodiment, the docking device can generate a movement path such that the generated movement path is a straight line parallel to the dock (30) at which the vessel (10) will dock. Since the risk of an accident occurring to the vessel (10) is high during the docking process, the docking device can reduce the risk of an accident occurring to the vessel (10) by setting the movement path to a straight line along which the vessel (10) can move stably.

[0044] The berthing device can control the vessel (10) to move from the current position to the alignment position. In addition, the berthing device can control the vessel (10) to move along a generated movement path from the alignment position to the berthing position (21).

[0045] Additionally, the docking device can determine whether docking is successful using at least one of the docking point (11) and the center point (12) within the vessel (10). In one embodiment, the docking device can determine whether docking is successful using the distance between the docking point (11) and the docking location (21). In another embodiment, the docking device can determine whether docking is successful using the distance between the center point (12) and the target location (22).

[0046] The berthing device can control the attitude and speed of the vessel (10) in real time as the vessel (10) moves to the berthing position (21). In one embodiment, the berthing device can control the vessel (10) by transmitting a control signal to a separate vessel (10) steering / piloting control device. The vessel steering / piloting device may include, but is not limited to, a rudder, an engine, a turbine, an electric propulsion device, etc.

[0047] Through this, the berthing device automatically performs berthing control of the ship (10), thereby enabling users who are not experienced in driving or steering the ship (10) to easily operate the ship (10). In addition, the possibility of an accident that may occur when the ship (10) is berthed can be significantly reduced, and since there is no need to equip a separate device such as a thruster for controlling the berthing of the ship (10), the structure of the ship (10) can be simplified and costs can be reduced.

[0048] In particular, when a dangerous situation that is not detected by the docking device occurs or when user intervention is required for more efficient docking, user intervention is possible at any time through a joystick or mobile device installed in the ship (10), and when the intervention is finished, automatic docking or docking control can be continued by the autonomous navigation system, thereby realizing a high level of human-machine interface and collaboration.

[0049] Figure 2 is a block diagram of an eyepiece device according to one embodiment.

[0050] Referring to FIG. 2, the eyepiece (100) includes a processor (110), a memory (120), an input / output interface (130), and a communication module (140). For convenience of explanation, only components related to the present invention are illustrated in FIG. 2. Therefore, in addition to the components illustrated in FIG. 2, other general-purpose components may be further included in the eyepiece (100). In addition, it will be apparent to a person skilled in the art related to the present invention that the processor (110), memory (120), input / output interface (130), and communication module (140) illustrated in FIG. 2 may be implemented as independent devices.

[0051] The processor (110) can process computer program commands by performing basic arithmetic, logic, and input / output operations. Here, the commands can be provided from memory (120) or an external device. In addition, the processor (110) can generally control the operations of other components included in the eyepiece device (100).

[0052] For example, the processor (110) can receive the current location of the vessel and the vessel's berthing location. Additionally, the processor (110) can use the vessel's berthing location to set the vessel's alignment location.

[0053] Additionally, the processor (110) can generate a movement path from the ship's alignment position to the berthing position. Here, the generated movement path may include information about the ship's attitude and speed during the process of moving from the alignment position to the berthing position.

[0054] Additionally, the processor (110) can control the vessel to move along a movement path from the alignment position to the berthing position. The processor (110) can control the attitude and speed of the vessel in real time so that the vessel moves along a movement path from the alignment position to the berthing position. In one embodiment, the processor (110) can control the vessel by transmitting a control signal to the vessel's steering device and / or engine. In one embodiment, the processor (110) can control the vessel's steering device and / or engine by transmitting a control signal to a control signal conversion device.

[0055] Additionally, the processor (110) can determine whether the ship has successfully docked based on one of the distance between the docking point and the docking location within the ship and the distance between the center point of the ship and the generated movement path.

[0056] If the vessel's berthing is judged to be successful, the berthing device may terminate control of the vessel.

[0057] If it is determined that the vessel's berthing has failed, the berthing device may reattempt the vessel's berthing.

[0058] In one embodiment, the berthing device may control the vessel to re-move to an alignment position and move the vessel along the generated movement path to the vessel's berthing position if the vessel is determined to have failed to berth.

[0059] In another embodiment, if the berthing device determines that the vessel has failed to berth, it can reset a new alignment position using at least one of the vessel's position and attitude at the time the vessel's berthing was determined to have failed. Furthermore, the berthing device can generate a new travel path based on the new alignment position. Furthermore, the berthing device can control the vessel to move to the new alignment position and then move to the berthing position along the new travel path.

[0060] Additionally, the processor (110) can perform the processes described in FIGS. 4 to 9 below.

[0061] The processor (110) may be implemented as an array of a plurality of logic gates, or may be implemented as a combination of a general-purpose microprocessor and a memory storing a program that can be executed on the microprocessor. For example, the processor (110) may include a general-purpose processor, a central processing unit (CPU), a microprocessor, a digital signal processor (DSP), a controller, a microcontroller, a state machine, etc. In some environments, the processor (110) may include an application-specific integrated circuit (ASIC), a programmable logic device (PLD), a field programmable gate array (FPGA), etc. For example, the processor (110) may refer to a combination of processing devices, such as a combination of a digital signal processor (DSP) and a microprocessor, a combination of a plurality of microprocessors, a combination of one or more microprocessors coupled with a digital signal processor (DSP) core, or any other such combination of configurations.

[0062] The memory (120) may include any non-transitory computer-readable recording medium. In one embodiment, the memory (120) may include a non-permanent mass storage device such as a random access memory (RAM), a read only memory (ROM), a disk drive, a solid state drive (SSD), a flash memory, etc. As another example, the non-permanent mass storage device such as a ROM, an SSD, a flash memory, a disk drive, etc. may be a separate permanent storage device distinct from the memory. In addition, the memory (120) may store an operating system (OS) and at least one program code (e.g., code for the processor (110) to perform an operation to be described later with reference to FIGS. 3 to 9).

[0063] These software components may be loaded from a computer-readable recording medium separate from the memory (120). This separate computer-readable recording medium may be a recording medium that can be directly connected to the eyepiece (100), and may include, for example, an input / output computer-readable recording medium such as a floppy drive, a disk, a tape, a DVD / CD-ROM drive, a memory card, etc. Alternatively, the software components may be loaded into the memory (120) through a communication module (140) other than a computer-readable recording medium. For example, at least one program may be loaded into the memory (120) based on a computer program (e.g., a computer program for the processor (110) to perform the operations described below with reference to FIGS. 3 to 9) that is installed by files provided by developers or a file distribution system that distributes installation files of applications through the communication module (140).

[0064] The input / output interface (130) may be a means for interfacing with a device for input and / or output (e.g., a keyboard, a mouse, etc.) that may be connected to or included in the eyepiece device (100). In FIG. 2, the input / output interface (130) is illustrated as an element configured separately from the processor (110), but is not limited thereto, and the input / output interface (130) may be configured to be included in the processor (110).

[0065] The communication module (140) may provide a configuration or function for the network to allow the eyepiece device (100) to communicate with an external device (not shown). In addition, the communication module (140) may provide a configuration or function for the eyepiece device (100) to communicate with another external device. For example, control signals, commands, data, etc. provided under the control of the processor (110) may be transmitted to the external device via the communication module (140) and the network.

[0066] Additionally, although not shown in FIG. 2, the docking device (100) may include a display module (not shown). For example, the display module may display an image of the docking point of a ship in real time and provide it to the user.

[0067] FIG. 3 is an exemplary configuration diagram of a system including an eyepiece device and an external device according to one embodiment.

[0068] Referring to FIG. 3, the eyepiece device (310) may include any type of server that manages a web and / or app capable of providing an eyepiece path provision service. The eyepiece device (310) may include any type of server that manages a web and / or app capable of providing an artificial intelligence service. In addition, the eyepiece device (310) of FIG. 3 may be the same device as the eyepiece device (not shown) of FIG. 1 and / or the device (100) of FIG. 2.

[0069] The external device (320) refers to an entity that provides information to the docking device (310) used to dock a vessel. The external device (320) may include any type of server that manages various types of information. The external device (320) may include a database and may include, but is not limited to, a server that manages a web service API that can provide information.

[0070] For example, the external device (320) may correspond to a sensor. The sensor may be one or more sensors equipped on the ship, and may include one or more sensors selected from the group consisting of a camera, a radar (RADAR, RAdio Detection And Ranging), a lidar (Lidar, Light Detection And Ranging), a global positioning system (GPS), an automatic identification system (AIS, Automatic Identification System), a sonar, and an inertial measurement unit (IMU, Inertial Measurement Unit), but is not limited thereto.

[0071] Additionally, the external device (320) may correspond to an input / output device. The input / output device may include an input device for acquiring user input and an output device for outputting information to be provided to the user. In one embodiment, the input device may include a computing device including a rudder controller, a steering wheel, a pedal, a joystick, a steering button, and a touchscreen interface, and the output device may include, but is not limited to, a visual output device such as a monitor or a head-up display and an auditory output device such as a speaker.

[0072] Additionally, the external device (320) may correspond to a control signal conversion device of the docking device (310) and / or a ship steering / steering device. In one embodiment, the ship steering / steering device may include, but is not limited to, a rudder, an engine, a turbine, an electric propulsion device, etc. In one embodiment, the control signal conversion device of the docking device (310) may be a device that converts a control signal of the docking device (310) into a signal suitable for the ship steering / steering device and provides it.

[0073] The eyepiece (310) and the external device (320) can communicate with each other and / or with other devices through a network. A network is a comprehensive data communication network that enables different entities to communicate smoothly with each other, and may include a wired Internet, a wireless Internet, and a mobile radio communication network. For example, the network may include a Local Area Network (LAN), a Wide Area Network (WAN), a Value Added Network (VAN), a mobile radio communication network, a satellite communication network, and combinations thereof. In addition, wireless communication may include, but is not limited to, wireless LAN (Wi-Fi), Bluetooth, Bluetooth low energy, ZigBee, Wi-Fi Direct (WFD), ultrawideband (UWB), infrared communication (IrDA, infrared Data Association), NFC (Near Field Communication), etc.

[0074] The eyepiece (310) can communicate with an external device (320) via a network. The eyepiece (310) can receive data from the external device (320) by communicating via a network and provide a response based on the received data.

[0075] It is obvious to a person having ordinary skill in the art related to the present invention that the external device (320) described above can be implemented as a module included within the eyepiece device (310) rather than as a separate external device (320).

[0076] Figure 4 is a flowchart illustrating a method of docking a vessel according to one embodiment.

[0077] Referring to FIG. 4, the method for docking a vessel is comprised of steps that are processed sequentially in the docking device (100) and / or processor (110) illustrated in FIG. 2. Therefore, even if omitted below, the content described above regarding the docking device (100) or processor (110) illustrated in FIG. 2 can also be applied to the method for docking a vessel illustrated in FIG. 4.

[0078] At step 410, the berthing device can set the alignment position of the vessel using the berthing position of the vessel.

[0079] For example, the docking device can receive the vessel's docking position from an external device. Furthermore, the docking device can directly recognize the vessel's current position and docking position.

[0080] For example, the berthing device may set a point at a predetermined distance from the berthing position of the vessel as the vessel's alignment position.

[0081] In one embodiment, the berthing device may set the point closest to the current position of the vessel among points located a predetermined distance away from the berthing position of the vessel as the alignment position of the vessel.

[0082] In another embodiment, the berthing device may set the alignment position as a point at a predetermined distance from the berthing position of the vessel such that a straight line connecting the berthing position of the vessel and the alignment position is parallel to the dock at which the vessel berths.

[0083] In another embodiment, the berthing device may utilize information about the vessel's berthing location, along with weather conditions or wave height information in the area where the vessel is located, to determine the alignment position. For example, if it is raining in the area where the vessel is berthing or the waves in the area are above a certain height, the berthing device may set the alignment position further from the berthing location to prevent accidents during berthing.

[0084] In another embodiment, the berthing device may utilize information about disturbances to the vessel, along with the vessel's berthing position, to determine the alignment position. Here, disturbances may include, but are not limited to, wind and currents to the vessel.

[0085] Specifically, the berthing device can compare the vessel's expected movement (due to the use of throttle or steering) with the vessel's actual movement to derive information about disturbances to the vessel. Furthermore, the berthing device can use this information and the vessel's berthing position to establish an alignment position.

[0086] Here, the aforementioned preset distance can be set using vessel size information. In one embodiment, the berthing device can set the preset distance based on the vessel's Length Over All (LOA). Specifically, the berthing device can set the preset distance from the berthing location to be twice the vessel's LOA.

[0087] The eyepiece can set the alignment position using a neural network model.

[0088] In machine learning technology and cognitive science, a neural network model refers to a statistical learning algorithm implemented based on the structure of a biological neural network, or a structure that executes the algorithm.

[0089] For example, a neural network model can represent a model with problem-solving capabilities. Nodes, artificial neurons that form a network by combining synapses, similar to biological neural networks, repeatedly adjust the weights of synapses to learn to reduce the error between the correct output corresponding to a specific input and the inferred output. For example, a neural network model can include any probabilistic model used in artificial intelligence learning methods such as machine learning and deep learning, as well as neural network models.

[0090] For example, a neural network model can be implemented as a multilayer perceptron (MLP) composed of multiple layers of nodes and connections between them. The neural network model according to the present embodiment can be implemented using one of various artificial neural network model structures including MLP. For example, the neural network model can be composed of an input layer that receives an input signal or data from the outside, an output layer that outputs an output signal or data corresponding to the input data, and at least one hidden layer located between the input layer and the output layer that receives a signal from the input layer, extracts characteristics, and transmits the same to the output layer. The output layer receives a signal or data from the hidden layer and outputs it to the outside.

[0091] For example, a docking device can obtain a vessel's alignment position by inputting the vessel's berthing location into a neural network model. Furthermore, the docking device can obtain a vessel's alignment position by inputting the vessel's berthing location, along with weather information about the area where the vessel is located, and information about disturbances affecting the vessel.

[0092] Additionally, the docking device can train a neural network model. Specifically, the docking device can train a neural network model using the previous docking location of the vessel as input data and the previous alignment location of the vessel before docking as output data.

[0093] At step 420, the eyepiece device can generate a movement path from the alignment position to the eyepiece position.

[0094] In one embodiment, the berthing device can generate a straight path connecting the alignment position and the berthing position as the travel path. Since the vessel's speed is slow during berthing, and even a small difference in distance can lead to accidents such as collisions with the dock, the berthing device can set the travel path as the straight path with the smallest difference in distance between the travel path generated during the vessel's movement and the actual movement.

[0095] In another embodiment, the berthing device may generate a travel path parallel to a straight line connecting the berthing location of the vessel and a target location where the center point of the vessel is located.

[0096] In another embodiment, the docking device can set multiple points within the generated travel path at predetermined intervals. Furthermore, the docking device can set the vessel's attitude and speed for each set point. For example, the vessel's attitude may refer to the angle formed by the travel path and the straight line connecting the vessel's docking point and center point. Furthermore, the vessel's speed may refer to the vessel's instantaneous speed at that point.

[0097] The eyepiece can generate a movement path using a neural network model.

[0098] For example, the docking device can obtain the alignment position of the ship by inputting the ship's alignment position and the docking position into the neural network model.

[0099] Additionally, the docking device can train a neural network model. Specifically, the docking device can train a neural network model using the alignment position and docking position at the time the vessel previously docked as input data, and the movement path from the alignment position at the time the vessel previously docked to the docking position as output data.

[0100] At step 430, the berthing device can control the vessel to move along a path from the alignment position to the berthing position.

[0101] For example, the berthing device can control the vessel by sending control commands to the vessel's steering / helm device.

[0102] In one embodiment, the berthing device may transmit control commands to the ship's steering / rudder device to move the ship from its current position to an aligned position.

[0103] In another embodiment, the berthing device may transmit control commands to the ship's steering / steering device to cause the ship to move along a generated path from an aligned position to a berthing position.

[0104] FIG. 5A is an exemplary drawing for explaining a method of setting an alignment position and an alignment area according to one embodiment.

[0105] Referring to FIG. 5A, the docking device can set the alignment position (532) of the vessel (510) using the docking position (522) of the vessel (510). For example, the docking device can control the movement of the vessel (510) so that the center point of the vessel (510) can correspond to the set alignment position (532).

[0106] The berthing device can set a target position (521) of the vessel (510). Here, the target position (521) may refer to a point at which the center point of the vessel (510) is to be located when the vessel (510) is berthing completed. For example, the berthing device can set the target position (521) of the vessel (510) using the size of the vessel (510). Specifically, the berthing device can set the target position (521) of the vessel (510) using the LOA of the vessel (510).

[0107] In one embodiment, the eyepiece device may set a point located on a straight line parallel to the dock among a plurality of points located at a preset distance from the eyepiece position (522) as the target position (521).

[0108] The berthing device can set the distance between the berthing position (522) of the vessel (510) and the alignment position (532) by using the first distance (540) between the berthing position (522) of the vessel (510) and the target position (521) and the second distance (550) between the target position (521) of the vessel (510) and the alignment position (532) of the vessel (510). Specifically, the berthing device can set the first distance (540) and the second distance (550) by using the size of the vessel (510).

[0109] Specifically, the docking device can set the first distance (540) and the second distance (550) using the LOA of the vessel (510). In addition, the docking device can set the first distance (540) and the second distance (550) using information about structures located in the area where docking will take place. Here, the structures may include docks where the vessel will dock, and the information about the structures may include the size and shape of the structures.

[0110] The berthing device may set the final distance, which is the sum of the first distance (540) and the second distance (550), as the distance between the berthing position (522) of the vessel (510) and the alignment position (532). In one embodiment, the berthing device may set a point located on a straight line connecting the berthing position (522) and the target position (521) among a plurality of points located at the final distance from the berthing position (522) as the alignment position (532).

[0111] The docking device can set an alignment area (531) in which the vessel (510) is to be positioned based on the alignment position (532). The docking device can control the vessel (510) so that all parts of the vessel (510) can be positioned within the alignment area (531).

[0112] In one embodiment, the docking device may set the alignment area (531) based on the size of the vessel (510). For example, the docking device may set the alignment area (531) as a circular area centered on the alignment position (532) of the vessel (510) and having the LOA of the vessel (510) as its diameter.

[0113] In another embodiment, the docking device may set the alignment position (531) based on the speed of the vessel (510). For example, the docking device may set a wider alignment area (531) as the speed of the vessel (510) increases.

[0114] In another embodiment, the docking device may set the alignment area (531) based on the size of the dock. For example, the docking device may set a circular area centered on the alignment position (532) of the vessel (510) and having the size of the dock as the diameter as the alignment area (531).

[0115] The berthing device can set whether the vessel (510) is located within the alignment area (531) as a prerequisite for controlling the vessel (510) so that the vessel (510) can be stably positioned at the alignment position (532). Specifically, the berthing device can control the vessel (510) so that the vessel (510) can maintain a stationary posture for moving from the alignment position (532) to the berthing position (522) in response to the vessel (510) being positioned within the alignment area (531).

[0116] FIG. 5b is an exemplary drawing for explaining a method of generating a movement path according to one embodiment.

[0117] Referring to FIG. 5b, the docking device can create a movement path (560) connecting the alignment position (532) and the docking position (522) of the vessel (510).

[0118] The docking device can create a movement path (560) that allows a vessel (510) located within an alignment area (531) to move from an alignment position (532) to a docking position (522).

[0119] For example, the eyepiece device can generate a straight line connecting the alignment position (532) and the eyepiece position (522) as a movement path (560).

[0120] For example, the docking device can set a plurality of points at predetermined distances within a straight line connecting the alignment position (532) and the docking position (522), thereby setting the attitude of the ship (510) and the speed of the ship (510) for each point.

[0121] For example, the docking device can set the time it takes for the vessel (510) to move along a path (560) from an alignment position (532) to a docking position (522).

[0122] For example, the docking device can generate a movement path (560) that allows the center point of the vessel (510) to be located at a target location (521) of the vessel (510) set on the trailer (520).

[0123] The docking device can generate an alarm for the risk of collision with the ground or a structure while the vessel (510) moves along the travel path (560).

[0124] For example, the docking device may generate an alarm based on the distance between the ground located on the movement path (560) and the vessel (510). Specifically, the docking device may have a risk of collision between the engine located under the vessel (510) and the ground due to the shallow water depth characteristic of the docking area. Accordingly, the docking device may generate an alarm for collision prevention when the distance between the ground around the docking location and the vessel (510) is below a predetermined threshold. Accordingly, the user may adjust the position of a component (e.g., an engine) that is at risk of colliding with the ground within the vessel (510) to prevent the collision.

[0125] Figure 6 is a flowchart illustrating a method for determining whether a ship has successfully docked according to one embodiment.

[0126] Referring to FIG. 6, the method for determining whether a ship has successfully docked is comprised of steps that are processed in time series in the docking device (100) and / or processor (110) illustrated in FIG. 2. Therefore, even if omitted below, the content described above regarding the docking device (100) or processor (110) illustrated in FIG. 2 can also be applied to the method for determining whether a ship has successfully docked in FIG. 6.

[0127] In step 610, the berthing device can set the alignment position of the vessel using the current position of the vessel and the berthing position of the vessel.

[0128] For example, the berthing device may set a point at a predetermined distance from the berthing position of the vessel as the vessel's alignment position.

[0129] At step 620, the eyepiece device can generate a movement path from the alignment position to the eyepiece position.

[0130] For example, a berthing device can set a straight line connecting the alignment position and the berthing position as the vessel's travel path. Furthermore, the berthing device can set the vessel's attitude and speed at specific points within the travel path.

[0131] At step 630, the berthing device can control the vessel to move along a path from the alignment position to the berthing position.

[0132] For example, the berthing device can control the vessel by sending control commands to the vessel's steering / helm device.

[0133] At step 640, the docking device can determine whether the docking of the vessel was successful.

[0134] For example, the berthing device may determine whether the vessel has successfully berthed based on either the distance between the berthing point and the berthing location within the vessel or the distance between the center point within the vessel and the travel path.

[0135] Referring to FIGS. 7 and 8 below, a method for determining whether a ship has successfully docked will be described in detail.

[0136] FIGS. 7 and 8 are exemplary drawings for explaining a case in which berthing of a ship fails according to one embodiment.

[0137] Referring to FIG. 7, the docking device can determine whether the ship (710) is successfully docked based on the distance (740) between the docking point (720) and the docking location (730) within the ship (710).

[0138] The docking device can control the vessel (710) along a generated movement path from the alignment position to the docking position (730), and then obtain the distance (740) between the docking point (720) and the docking position (730).

[0139] In addition, the docking device can determine whether docking was successful by comparing the distance (740) between the docking point (720) and the docking position (730) with a preset distance after the control of the vessel (710) along the moving path is terminated.

[0140] For example, the docking device may determine that the docking of the vessel (710) has failed if the distance (740) between the docking point (720) and the docking location (730) exceeds a predetermined distance. In addition, the docking device may determine that the docking of the vessel (710) has been successful if the distance (740) between the docking point (720) and the docking location (730) is less than a predetermined distance.

[0141] For example, a predetermined distance for determining whether berthing is successful can be set using at least one of the size of the vessel (710), the size of the trailer, and the size of the dock.

[0142] Referring to FIG. 8, the docking device can determine whether the ship (810) is successfully docked based on the distance (840) between the center point (820) within the ship (810) and the movement path (860).

[0143] The docking device can control the vessel (810) along a movement path (860) generated from an alignment position (850) to a docking position (830), and then obtain a distance (840) between a center point (820) within the vessel (810) and the movement path (860).

[0144] For example, the docking device can obtain the distance between the center point (820) of the vessel (810) and the closest point within the center point (820) of the moving path (860) as the distance (840) between the center point (820) and the moving path (860).

[0145] In addition, the docking device can determine whether docking is successful by comparing the distance (840) between the center point (820) and the moving path (860) with a preset distance after the control of the ship (810) along the moving path (860) is terminated.

[0146] For example, the docking device may determine that the docking of the vessel (810) has failed if the distance (840) between the center point (820) and the movement path (860) exceeds a predetermined distance. In addition, the docking device may determine that the docking of the vessel (810) has been successful if the distance (840) between the center point (820) and the movement path (860) is less than a predetermined distance.

[0147] For example, a predetermined distance for determining whether berthing is successful can be set using at least one of the size of the vessel (810), the size of the trailer, and the size of the dock.

[0148] Referring again to Figure 6, if the vessel is determined to have failed to berth, at step 650, the berthing device can control the vessel to move back to the alignment position. Furthermore, the berthing device can control the vessel to move back along the path from the alignment position to the berthing position. Furthermore, the berthing device can re-determine whether the vessel successfully berthed.

[0149] In another embodiment, the berthing device may reset the alignment position if it determines that the vessel has failed to berth. Specifically, if the vessel fails to berth, the berthing device may reset the alignment position to a position further away from the previously set berthing position. Furthermore, if the berthing device determines that the vessel has failed to berth, it may reset the new alignment position using at least one of the vessel's position and attitude at the time the vessel was determined to have failed to berth.

[0150] In another embodiment, the docking device can regenerate a navigation path if it determines that the vessel has failed to dock. Specifically, if the vessel fails to dock, the docking device can regenerate the navigation path by adjusting the vessel's attitude and speed while moving along the previously generated navigation path.

[0151] If the vessel is determined to have successfully berthed, at step 660, the berthing device can control the vessel to maintain a predetermined distance between the berthing point and the berthing location. This allows the berthing device to safely maintain its position while physically connecting the vessel's berthing point and the berthing location's tie-down point.

[0152] Referring to FIG. 9 below, a method for maintaining the distance between the eyepiece point and the eyepiece position within a predetermined distance is described in detail.

[0153] The berthing device can control the vessel so that the distance between the berthing point and the berthing position remains within a predetermined distance for a predetermined period of time, and then terminate control of the vessel.

[0154] FIG. 9 is an exemplary drawing for explaining a method of controlling a vessel so that the distance between a docking point and a docking position is maintained within a predetermined distance according to one embodiment.

[0155] Referring to FIG. 9, a tie-down point (930) may be located at the berthing location (940) of a vessel (910). Here, the tie-down point (930) may refer to a point that physically connects a vessel (910) that has completed berthing and a trailer to prevent accidents caused by movement of the vessel (910) during the movement of the vessel (910).

[0156] The berthing device can control the ship (910) so that the distance between the berthing point (920) and the berthing position (940) within the ship (910) is maintained within the predetermined distance, corresponding to the distance between the berthing point (920) and the berthing position (940) being within the predetermined distance.

[0157] For example, the berthing device can control the vessel (910) using a preset engine control command. The preset engine control command can include a forward direction control command of the vessel (910) using an idle RPM value. When the distance between the berthing point (920) and the berthing position (940) is outside a predetermined distance, the berthing device can change the control command according to the distance between the berthing point (920) and the berthing position (940) and / or the speed of the vessel (910). For example, the berthing device can control the vessel (910) to increase or decrease the RPM value according to the distance between the berthing point (920) and the berthing position (940) and / or the speed of the vessel (910).

[0158] Accordingly, the vessel (910) may appear to be stationary. That is, the mooring device may control the vessel (910) so that the vessel (910) remains stationary despite wind, waves, or other external forces. Specifically, the mooring device may control the vessel (910) so that the vessel (910) does not roll backwards and cause an accident while the user physically connects the trailer's tie-down point (930) to the vessel's mooring point (920).

[0159] The berthing device can determine whether there is a connection between the berthing point (920) of the vessel (910) and the tie-down point (930) of the trailer. For example, the berthing device can determine whether there is a connection based on whether there is physical contact between the berthing point (920) and the tie-down point (930).

[0160] The docking device can terminate control of the vessel (910) in response to the connection of the docking point (920) and the tie-down point (930).

[0161] Embodiments according to the present invention may be implemented in the form of a computer program that can be executed through various components on a computer, and such a computer program may be recorded on a computer-readable medium. In this case, the medium may include magnetic media such as hard disks, floppy disks, and magnetic tapes, optical recording media such as CD-ROMs and DVDs, magneto-optical media such as floptical disks, and hardware devices specifically configured to store and execute program instructions, such as ROMs, RAMs, and flash memories.

[0162] Meanwhile, the computer program may be specifically designed and constructed for the present invention, or may be one known and available to those skilled in the computer software field. Examples of computer programs include not only machine language code, such as that generated by a compiler, but also high-level language code that can be executed by a computer using an interpreter or the like.

[0163] According to one embodiment, the method according to various embodiments of the present disclosure may be provided as included in a computer program product. The computer program product may be traded as a product between a seller and a buyer. The computer program product may be distributed in the form of a machine-readable storage medium (e.g., compact disc read-only memory (CD-ROM)), or may be distributed online (e.g., downloaded or uploaded) through an application store (e.g., Play Store™) or directly between two user devices. In the case of online distribution, at least a portion of the computer program product may be temporarily stored or temporarily generated in a machine-readable storage medium, such as the memory of a manufacturer's server, an application store's server, or a relay server.

[0164] Unless the steps constituting the method according to the present invention are explicitly described in a specific order or are otherwise described in a different order, the steps may be performed in any appropriate order. The present invention is not necessarily limited to the order in which the steps are described. The use of all examples or exemplary terms (e.g., "for example," etc.) in the present invention is merely intended to illustrate the present invention in detail, and the scope of the present invention is not limited by the examples or exemplary terms unless otherwise defined by the claims. Furthermore, those skilled in the art will appreciate that various modifications, combinations, and variations can be configured according to design conditions and factors within the scope of the appended claims or their equivalents.

[0165] Therefore, the idea of ​​the present invention should not be limited to the embodiments described above, and all scopes equivalent to or equivalently modified from the following claims as well as the claims are considered to fall within the scope of the idea of ​​the present invention.

Claims

1. A step of setting the alignment position of the vessel using the vessel's berthing position; A step of generating a movement path from the alignment position to the eyepiece position; and A step of controlling the vessel so that the vessel moves along the movement path from the alignment position to the berthing position; How to dock a ship.

2. In paragraph 1, The above method, A step of determining whether the vessel is successfully docked based on one of the distance between the docking point and the docking location within the vessel and the distance between the center point within the vessel and the movement path; A method further comprising:

3. In paragraph 2, The above method, A step of controlling the vessel to move back to the alignment position in response to determining that the vessel's berthing has failed; A method further comprising:

4. In paragraph 2, The above method, In response to the determination that the berthing of the vessel has failed, a step of setting a new alignment position using at least one of the position of the vessel and the attitude of the vessel at the time when the berthing of the vessel has failed is determined; and A step of controlling the vessel so that the vessel moves to the new alignment position; A method further comprising:

5. In paragraph 1, The above controlling step is, A method for controlling at least one of the attitude of the vessel and the speed of the vessel based on the movement path.

6. In paragraph 1, The above controlling step is, A step of determining whether the vessel is located within an alignment area set based on the alignment position; and A step of controlling the vessel so that the vessel is positioned at the alignment position and maintains a posture corresponding to the vessel being positioned within the alignment area; A method comprising:

7. In paragraph 6, The above sorting area is, A method, wherein the method is set based on at least one of the size of the vessel and the size of the dock at which the vessel is to dock.

8. In paragraph 1, The above method, A step of controlling the vessel so that the distance between the berthing point in the vessel and the berthing position is maintained within a predetermined distance in response to the distance between the berthing point in the vessel and the berthing position being within a predetermined distance; A method further comprising:

9. In paragraph 1, The above method, A step of terminating control of the vessel in response to the connection of the above anchoring point and the above tie-down point; A method further comprising:

10. In paragraph 1, The steps to set up above are: A method of setting a point located at a predetermined distance from the berthing position based on the size of the vessel as the berthing position.

11. In paragraph 1, The steps to set up above are: A method for setting the alignment position based on at least one of information on the weather conditions in the area where the vessel is located and information on disturbances applied to the vessel.

12. In paragraph 1, The step of generating the above movement path is: A method for generating a movement path parallel to a straight line connecting a target position and the berthing position, where the center point within the vessel is located.

13. In paragraph 1, The steps of controlling the above vessel are: A step of generating a notification based on the distance between the vessel and the ground while the vessel moves along the movement path; A method comprising:

14. At least one memory; and comprising at least one processor; At least one processor, A computing device that generates a movement path from the alignment position of the vessel to the berthing position using the current position of the vessel and the berthing position of the vessel, controls the vessel to move along the movement path, and determines whether the vessel has successfully berthed based on one of the distance between the berthing point within the vessel and the berthing position and the distance between the center point of the vessel and the movement path.

15. A computer-readable recording medium recording a program for executing the method according to paragraph 1 on a computer.

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