Method and device for calculating position for controlling movement of ship

Abstract

The present disclosure relates to a method and device for calculating a position for controlling the movement of a ship. The method for calculating a position for controlling the movement of a ship according to an embodiment of the present disclosure may include determining a first fixed position on the basis of a berthing position and specifications of the ship, and determining a second fixed position in which the first fixed position is corrected on the basis of coordinates of the first fixed position, the berthing position, and a berthing area.

Description

Method and device for calculating position for controlling movement of a vessel

[0001] The present invention relates to a method and device for calculating a position for controlling the movement of a ship.

[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] Accordingly, the development of technology that enables ships to automatically dock or berth at precise locations is actively underway.

[0004] 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.

[0005] The purpose of the present disclosure is to provide a method and device for calculating a position for controlling the movement of a vessel. The problems to be solved by the present disclosure are not limited to the problems mentioned above. Other problems and advantages of the present disclosure not mentioned above can be understood through the following description and will be more clearly understood through the embodiments of the present disclosure. Furthermore, it will be appreciated that the problems and advantages to be solved by the present disclosure can be realized by the means and combinations thereof set forth in the claims.

[0006] A first aspect of the present disclosure may provide a method for calculating a position for controlling the movement of a vessel, including the steps of: determining a first fixed position based on a berthing position and specifications of the vessel; and determining a second fixed position, in which the first fixed position is corrected, based on coordinates of the first fixed position, the berthing position, and the berthing area.

[0007] A second aspect of the present disclosure provides a device for calculating a position for controlling movement of a vessel, comprising: a memory having at least one program stored therein; and a processor operating by executing the at least one program; wherein the processor determines a first fixed position based on a berthing position and specifications of the vessel, and determines a second fixed position in which the first fixed position is corrected based on coordinates of the first fixed position, the berthing position, and the berthing area.

[0008] 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.

[0009] According to various embodiments of the present disclosure, by automatically performing berthing control of a ship, users who are not skilled in ship driving or steering can easily operate a ship and enjoy complete leisure activities free from the stress of ship steering.

[0010] Additionally, it can significantly reduce the possibility of accidents that may occur when a ship docks.

[0011] Additionally, docking of the ship can be initiated safely through fixed control and restoration control based on dynamic position.

[0012] Figure 1 is a conceptual diagram for explaining the autonomous navigation system of the present disclosure.

[0013] FIG. 2 is a flowchart for explaining each phase for controlling the movement of a ship according to one embodiment of the present disclosure.

[0014] FIG. 3 is a flowchart illustrating a process for calculating a fixed position according to one embodiment of the present disclosure.

[0015] Figure 4 is a schematic diagram illustrating a ship docking process according to one embodiment of the present disclosure.

[0016] FIG. 5 is a schematic diagram illustrating a process for calculating a first fixed position according to one embodiment of the present disclosure.

[0017] FIG. 6 is a schematic diagram illustrating a process for calculating a second fixed position according to one embodiment of the present disclosure.

[0018] FIG. 7 is a flowchart illustrating a process for calculating a restoration position according to one embodiment of the present disclosure.

[0019] FIG. 8a and FIG. 8b are schematic diagrams illustrating a process for calculating a first restoration position according to one embodiment of the present disclosure.

[0020] FIG. 9 is a flowchart illustrating a process in a docking phase according to one embodiment of the present disclosure.

[0021] FIG. 10 is a schematic diagram illustrating the concept of pushing control according to one embodiment of the present disclosure.

[0022] FIG. 11 is a flowchart illustrating a process for performing pushing control according to one embodiment of the present disclosure.

[0023] FIG. 12 is a flowchart of a method for calculating a position for controlling the movement of a vessel according to one embodiment of the present disclosure.

[0024] FIG. 13 is a flowchart of a method for controlling berthing of a ship according to one embodiment of the present disclosure.

[0025] FIG. 14 is a block diagram of an autonomous navigation processing device according to one embodiment of the present disclosure.

[0026] A method according to one embodiment of the present invention for solving the above technical problem comprises a method for calculating a position for controlling the movement of a vessel, the method comprising: a step of determining a first fixed position based on a berthing position and specifications of the vessel; and a step of determining a second fixed position, in which the first fixed position is corrected, based on coordinates relating to the first fixed position, the berthing position, and the berthing area.

[0027] In the above method, the method may further include a step of estimating the degree of disturbance; and a step of determining a third fixed position in which the second fixed position is corrected based on the degree of disturbance exceeding a threshold value.

[0028] In the above method, the third fixed position can be determined based on a compensation mapping table generated in advance through a simulation reflecting the dynamic model of the ship.

[0029] In the above method, the method further includes a step of obtaining an input for initiating an autonomous docking mode; and a step of initiating the autonomous docking mode, obtaining status information of the vessel, and entering an approaching phase; wherein the first fixed position can be determined based on entering the approaching phase.

[0030] In the above method, the first fixed position may be spaced apart from the berthing position by a distance equal to a first constant multiplied by the length of the ship in the bow-stern direction in the first direction, and by a distance equal to a second constant multiplied by the length of the ship in the port-starboard direction in the second direction.

[0031] In the above method, the first constant and the second constant can be set based on the marina design regulations.

[0032] In the above method, the step of determining the first fixed position may include the step of determining the bow angle of the ship at the first fixed position.

[0033] In the above method, the step of determining the second fixed position may include a step of calculating a first outer vertex and a second outer vertex that define a safety area in the direction of the bow of the vessel secured during the berthing process based on the berthing area.

[0034] In the above method, the second fixed position can be determined as the intersection of a line that is a parallel displacement of a line connecting the first outer vertex and the second outer vertex and a line connecting the first fixed position and the eyepiece position.

[0035] In the above method, the parallel displacement distance of the line connecting the first outer vertex and the second outer vertex may be proportional to the length in the bow-stern direction of the ship.

[0036] In the above method, the method may further include a step of determining whether recovery control is required; and a step of entering a recovery phase based on determining that recovery control is required.

[0037] In the above method, the step of determining whether the restoration control is necessary may include a step of calculating a docking success rate in real time; and a step of determining whether the docking success rate is below a threshold value.

[0038] In the above method, the step of calculating a restoration position based on entering the restoration phase may be further included.

[0039] According to another embodiment of the present invention for solving the above technical problem, a device for calculating a position for controlling the movement of a ship comprises: a memory having at least one program stored therein; and a processor operating by executing the at least one program; wherein the processor determines a first fixed position based on a berthing position and specifications of the ship, and determines a second fixed position in which the first fixed position is corrected based on coordinates of the first fixed position, the berthing position, and the berthing area.

[0040] One embodiment of the present invention can provide a computer-readable recording medium having recorded thereon a program for executing the above method on a computer.

[0041] 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 can 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 invention 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.

[0042] 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 preclude the possibility of the presence or addition of one or more other features, numbers, steps, operations, components, parts, or combinations thereof.

[0043] 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.

[0044] 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.

[0045] Additionally, terms including ordinal numbers, such as "first" or "second," used in the specification may be used to describe various components, but the components should not be limited by the terms. The terms may be used to distinguish one component from another.

[0046] Figure 1 is a conceptual diagram for explaining an autonomous navigation system according to the present disclosure.

[0047] Referring to FIG. 1, the autonomous navigation system (100) may include a ship's control device (110), an EIU (Engine Interface Unit 120), an Autonomous Navigation Processor (130, hereinafter, an autonomous navigation processing unit), and an engine (140).

[0048] The steering device (110) may include at least a portion of a throttle lever, a steering wheel, and a joystick. However, the present invention is not limited thereto, and the steering device (110) may include other ship devices. The steering device (110) may be referred to as a helm station according to an embodiment.

[0049] The EIU (120) may refer to a device that acquires a signal (S1) from a steering device (110) included in a ship through a communication network within the ship and transmits it to the engine (140). The signal (S1) may include a message or protocol of several steering devices (110) included in the ship. The EIU (120) may transmit the signal (S1) of the steering device (110) as is to the engine (140), or may convert the signal (S1) of the steering device (110) and then transmit the converted signal (S2) to the engine (140). The present invention is not limited thereto.

[0050] The EIU (120) may be a device that enables switching between autonomous and manual operation modes of a ship by transmitting or injecting a signal (S1) of a steering device (110). The EIU (120) may determine whether the current operation mode of the ship is autonomous or manual, based on a control command received from the autonomous operation processing device (130). The EIU (120) may also receive the operation status of the ship determined from the autonomous operation processing device (130). In this case, the EIU (120) may operate based on the determined operation status. According to an embodiment, the EIU (120) may determine the autonomous operation mode by detecting a control value output from the steering device (110) even when a user does not control the steering devices (110).

[0051] The EIU (120) can be connected to the ship's steering device (110) and engine (140) via an internal communication network. The internal communication network can include a CAN (Controller Area Network). Here, CAN can refer to an internal communication network of a ship, automobile, etc. that can perform data transmission between ECUs (Engine Control Units), control of various steering devices (110), control of a system, etc., and is not limited thereto. The internal communication network can refer to any communication network that can transmit data between the ship's steering device (110) and the engine (140). According to an embodiment, a user can check the status of the linkage between the steering devices (110), the autonomous navigation processing unit (130), and the engine (140) by using the EIU (120).

[0052] The autonomous navigation processing unit (130) may be a device that processes control commands for controlling the ship's steering device (110) when the ship is in autonomous navigation mode. In other words, even when the user does not operate the steering device (110), the autonomous navigation processing unit (130) may generate commands for controlling the ship's steering device (110). In addition, the autonomous navigation processing unit (130) may transmit the ship's navigation status to the EIU (120) so that the EIU (120) may operate based on the ship's navigation status.

[0053] The engine (140) may be a device that operates based on control commands from the ship's steering devices (110). For example, when the ship is in manual operation mode, the engine (140) may operate based on user input operating the steering device (110). As another example, when the ship is in autonomous operation mode, the engine (140) may operate based on control commands received from the autonomous operation processing device (130).

[0054] Meanwhile, it can be understood that the operations according to various embodiments of the present disclosure are performed by the autonomous operation processing device (130) of FIG. 1.

[0055] FIG. 2 is a flowchart for explaining each phase for controlling the movement of a ship according to one embodiment of the present disclosure.

[0056] Referring to FIG. 2, the process according to embodiments is illustrated as autonomous docking mode is initiated and the vessel enters each phase.

[0057] Referring to FIG. 2, the autonomous navigation processing device can obtain user input (201).

[0058] Here, the user input may refer to an input for initiating autonomous docking mode. For example, the user may refer to an input for initiating autonomous docking mode via an input interface onboard the vessel, such as a button or touchscreen.

[0059] Referring to FIG. 2, the autonomous navigation processing device can initiate an autonomous docking mode (202).

[0060] In one embodiment, the autonomous navigation processing device may initiate an autonomous berthing mode of the vessel based on obtaining input for initiating the autonomous berthing mode.

[0061] In one embodiment, the input for initiating autonomous berthing mode may be acquired only when the vessel's condition is suitable for initiating autonomous berthing mode. For example, an input interface for initiating autonomous berthing mode may be activated only when the vessel's condition is suitable for initiating autonomous berthing mode.

[0062] In another embodiment, the autonomous navigation processing device may determine whether the vessel's condition is suitable for initiating autonomous berthing mode based on obtaining input for initiating autonomous berthing mode. The autonomous navigation processing device may initiate autonomous berthing mode for the vessel based on determining that the vessel's condition is suitable for initiating autonomous berthing mode.

[0063] Referring to FIG. 2, the autonomous navigation processing device can obtain status information of the ship and generate a berthing map (203).

[0064] In one embodiment, the autonomous navigation processing device may acquire vessel status information and generate a berthing map (203) based on initiating an autonomous berthing mode. Vessel status information may refer to data about the vessel that serves as the basis for performing processes according to embodiments, such as data about the vessel's position, data about the vessel's speed or heading angle, data about the vessel's attitude including the vessel's inclination, and data collected by various sensors mounted on the vessel. The berthing map may refer to data including information about the surrounding environment including surrounding vessels or obstacles, information about the berthing location and berthing area, and information about the path to reach the berthing location. The berthing map may be generated based on the vessel's status information.

[0065] In one embodiment, the autonomous navigation processing unit can obtain vessel status information in real time or at preset time intervals. For example, the autonomous navigation processing unit can continuously obtain vessel status information after initiating autonomous berthing mode. Furthermore, the autonomous navigation processing unit can update the berthing map based on the continuously acquired vessel status information.

[0066] Referring to FIG. 2, the autonomous navigation processing device can enter the approaching phase (204).

[0067] Additionally, referring to FIG. 2, the autonomous navigation processing device can calculate a fixed position (205) based on entering the approaching phase.

[0068] In the present disclosure, the approaching phase may refer to a phase in which a vessel approaches a fixed position among the phases within the autonomous berthing mode. In the present disclosure, the fixed position may refer to a position where the vessel's speed is reduced at the fixed position before entering the berthing position or berthing area, and berthing is stably performed at a consistent position and attitude. In other words, the fixed position may be understood as the vessel's destination in the approaching phase and the starting point of the docking phase. Unlike ground vehicles, vessels are located at sea level, making it impossible to maintain a relative position relative to the surrounding environment. Therefore, dynamic positioning may be required to control the position. From this perspective, the fixed position may be referred to as a DP (dynamic positioning) point, which is a reference point for dynamic positioning control. Meanwhile, when the vessel reaches the fixed position or a position close to the fixed position, the autonomous navigation processing device may enter the dynamic positioning phase, which performs dynamic positioning control.

[0069] The autonomous navigation processing unit can perform dynamic position control in any manner.

[0070] In this disclosure, the process of calculating a fixed position will be described in detail later.

[0071] Referring to FIG. 2, the autonomous navigation processing device can control the approach of the ship to a fixed position (206).

[0072] In one embodiment, the autonomous navigation processing device may control the vessel to approach a fixed position based on calculating a fixed position.

[0073] The autonomous navigation processing unit can control the ship to approach a fixed position in any manner.

[0074] Referring to FIG. 2, the autonomous navigation processing device can determine (207) whether restoration control is required.

[0075] In the present disclosure, restoration control is performed to prevent the ship from being placed in an unsafe state due to external disturbances, etc., and can be performed based on the restoration position, as will be described later.

[0076] In one embodiment, determining whether restoration control is required may be based on a docking success rate being below a threshold. That is, determining whether restoration control is required may include calculating a docking success rate and determining whether the docking success rate is below a threshold. The docking success rate may indicate the probability that docking will be completed safely when docking is performed based on the calculated path.

[0077] In one embodiment, the docking success rate may be determined in real time or at preset time intervals. For example, the docking success rate may be determined continuously since the autonomous docking mode is initiated.

[0078] The autonomous navigation processing unit can calculate the docking success rate in any arbitrary manner.

[0079] Although the determination of whether recovery control is required in FIG. 2 is illustrated as being made after controlling the vessel's approach to a fixed position, in one embodiment, the determination of whether recovery control is required may be made in real time or at preset time intervals. For example, the determination of whether recovery control is required may be made continuously after the autonomous docking mode is initiated. For example, the determination of whether recovery control is required may be made after entering the docking phase.

[0080] Referring to FIG. 2, the autonomous navigation processing device can determine (208) whether the ship is approaching a fixed position and whether the state of the ship is stable based on determining that restoration control is not necessary.

[0081] Here, the fixed position can be a first fixed position, a second fixed position, or a third fixed position.

[0082] Referring to FIG. 2, the autonomous navigation processing device can control (206) the approach of the vessel to the fixed position based on determining that the vessel is not approaching the fixed position or that the condition of the vessel is unstable.

[0083] That is, the autonomous navigation processing device can continuously perform dynamic position control.

[0084] Referring to FIG. 2, the autonomous navigation processing device may enter the docking phase (209) based on determining that the ship is approaching a fixed position and that the ship's condition is stable.

[0085] In the present disclosure, the docking phase may refer to a stage in which the vessel enters a berthing position or berthing area after reaching a stable fixed position (or, as described below, a restoration position). The docking phase may be initiated only when the vessel is in a stable state. The autonomous navigation processing device can control the vessel during the docking phase by calculating throttle and steering control values ​​while considering state errors.

[0086] Meanwhile, pushing control according to various embodiments of the present disclosure can be performed based on entry into the docking phase, and the pushing control will be described in detail later.

[0087] Referring to FIG. 2, the autonomous navigation processing device may enter a restoration phase (210) based on determining that restoration control is required.

[0088] Additionally, referring to FIG. 2, the autonomous navigation processing device can calculate (211) a restoration position based on entering the restoration phase.

[0089] In this disclosure, the "restoration phase" may refer to a step in which a process is performed to return the vessel to a stable state, as required by restoration control. In this disclosure, the "restoration location" or "recovery point" may refer to a location selected to restore the vessel to a safe state, where the vessel can escape from an unsafe state and berth again.

[0090] In this disclosure, the process of calculating the restoration position will be described in detail later.

[0091] Referring to FIG. 2, the autonomous navigation processing device can control (212) the approach of the vessel to the restoration position based on calculating the restoration position.

[0092] Controlling the approach of a vessel to a restoration position can be analogously applied to controlling the approach of a vessel to a fixed position.

[0093] Referring to FIG. 2, the autonomous navigation processing device can determine (213) whether the ship is close to the restoration position and whether the ship's condition is stable.

[0094] In one embodiment, determining whether the vessel is nearing a restoration position and whether the vessel's condition is stable may include calculating a docking success rate.

[0095] Referring to FIG. 2, the autonomous navigation processing device can control (212) the approach of the vessel to the restoration position based on determining that the vessel is not close to the restoration position or that the vessel's condition is unstable.

[0096] That is, the autonomous navigation processing device can continuously perform dynamic position control.

[0097] Referring to FIG. 2, the autonomous navigation processing device may enter the docking phase (209) based on determining that the ship is approaching the restoration position and that the ship's condition is stable.

[0098] FIG. 3 is a flowchart illustrating a process for calculating a fixed position according to one embodiment of the present disclosure.

[0099] As described above, the fixed position may mean a position where the ship's speed is reduced at the fixed position before entering the berthing position or berthing area, and berthing is stably performed at a consistent position and attitude, and the autonomous navigation processing device may calculate the fixed position (205) based on entering the approaching phase.

[0100] Referring to FIG. 3, a specific embodiment of calculating a fixed position (205) is illustrated.

[0101] Referring to FIG. 3, the autonomous navigation processing device can determine a first fixed position (301).

[0102] The first fixed position is the first fixed position to be determined and can be determined based on only the minimum number of considerations.

[0103] In one embodiment, the autonomous navigation processing device can determine the first anchoring position based on the berthing position and vessel specifications. This embodiment will be described in detail below.

[0104] Referring to FIG. 3, the autonomous navigation processing device can determine a second fixed position (302) by correcting the first fixed position based on determining the first fixed position.

[0105] The second fixed position is a value that corrects the first fixed position. Although more calculations are required to determine the second fixed position than to determine the first fixed position, the safety and operational efficiency of the vessel can be increased throughout the autonomous berthing or docking phase.

[0106] In one embodiment, the autonomous navigation processing device can determine a second fixed position based on coordinates relating to the first fixed position, the docking position, and the docking area. This embodiment will be described in detail below.

[0107] Referring to FIG. 3, the autonomous navigation processing device can estimate the degree of disturbance (303) based on determining the second fixed position.

[0108] The autonomous navigation processing device may estimate the degree of disturbance to determine whether it is necessary to compensate for the second fixed position, as described below.

[0109] The autonomous navigation processing unit can estimate the degree of disturbance using any method. For example, the autonomous navigation processing unit can estimate the degree of disturbance based on a dynamic model. A dynamic model can refer to a model for analyzing the movement of a vessel as reflected in its state.

[0110] Referring to FIG. 3, the autonomous navigation processing device can determine (304) whether the degree of disturbance is greater than a threshold value.

[0111] Here, the threshold value can be set to an appropriate value based on the method of estimating the degree of disturbance and the necessity of determining the third fixed position (described later).

[0112] Referring to FIG. 3, the autonomous navigation processing device can determine (305) the final fixed position as the second fixed position based on the degree of disturbance not being greater than a threshold value.

[0113] That is, the autonomous navigation processing device may consider that there is no need to recalibrate the second fixed position if the degree of disturbance is not greater than the threshold value.

[0114] Thereafter, as described above, the autonomous navigation processing device can control (206) the approach of the vessel to the fixed position. Consequently, the autonomous navigation processing device can control (206) the approach of the vessel to the second fixed position.

[0115] Meanwhile, referring to FIG. 3, the autonomous navigation processing device can determine a third fixed position (306) by correcting the second fixed position based on the degree of disturbance being greater than a threshold value.

[0116] The third fixed position is a value that corrects the second fixed position. Although more calculations are required to determine the third fixed position than to determine the final fixed position using the second fixed position, the safety and operational efficiency of the vessel can be increased throughout the autonomous berthing or docking phase.

[0117] Referring to FIG. 3, the autonomous navigation processing device can determine the final position as the third fixed position (307).

[0118] Thereafter, as described above, the autonomous navigation processing device can control (206) the approach of the vessel to the fixed position. Consequently, the autonomous navigation processing device can control (206) the approach of the vessel to the second fixed position.

[0119] Figure 4 is a schematic diagram illustrating a ship docking process according to one embodiment of the present disclosure.

[0120] Referring to FIG. 4, in the autonomous berthing mode of the ship, data detected, determined or produced for berthing of the ship, including berthing position, berthing area, berthing path, surrounding environment, etc. are shown.

[0121] Referring to FIG. 4, the current shape of a vessel (400) and the shape of a berthed vessel (410) are illustrated, and the shape of the berthed vessel (410) includes a berthing position (401). The current shape of the vessel (400) reflects the current state of the vessel, and the shape of the berthed vessel (410) may reflect the state of the vessel after berthing has been completed. The berthing position (401) may be understood as a point representing the vessel after berthing has been completed (e.g., coordinates of the vessel after berthing has been completed), and may be detected by sensors mounted on the vessel or calculated based on data regarding the berth stored in a database.

[0122] Referring to FIG. 4, a first berthing area vertex (421), a second berthing area vertex (422), a third berthing area vertex (423), and a fourth berthing area vertex (424) are illustrated. The first berthing area vertex (421), the second berthing area vertex (422), the third berthing area vertex (423), and the fourth berthing area vertex (424) can define a berthing area. The berthing area or the first area vertex (421), the second berthing area vertex (422), the third berthing area vertex (423), and the fourth berthing area vertex (424) can be detected by sensors mounted on the ship, or can be calculated based on data about a berth stored in a database.

[0123] Referring to FIG. 4, a first outer vertex (431) and a second outer vertex (432) are illustrated. The first outer vertex (431) and the second outer vertex (432) can be calculated based on the berthing area and can define a safety area in the direction of the vessel's bow secured during the berthing process. The first outer vertex (431) and the second outer vertex (432) can be calculated by extending the berthing area toward the first berthing area vertex (421) and the fourth berthing area vertex (424), while taking into account the location of an obstacle (430).

[0124] In this way, autonomous berthing of a vessel according to one embodiment can be performed based on six vertices, namely, a first berthing area vertex (421), a second berthing area vertex (422), a third berthing area vertex (423), a fourth berthing area vertex (424), a first outer vertex (431), and a second outer vertex (432).

[0125] As will be described later, an embodiment of determining a second fixed position of the present disclosure may be based on autonomous eye contact based on six vertices.

[0126] FIG. 5 is a schematic diagram illustrating a process for calculating a first fixed position according to one embodiment of the present disclosure.

[0127] As described above, in one embodiment, the autonomous navigation processing device can determine the first anchoring position based on the berthing position and the specifications of the vessel.

[0128] Referring to FIG. 5, the autonomous navigation processing device can determine a first fixed position (510) to be spaced a certain distance from the docking position (401). And, the certain distance can be based on the specifications of the ship.

[0129] In one embodiment, the first fixed position (510) may be spaced apart from the berthing position (401) in the first direction by a*L and in the second direction by b*B. Here, L may refer to the length of the vessel, i.e., the length in the bow-stern direction, and B may refer to the width of the vessel, i.e., the length in the port-starboard direction. Here, a and b may be set to any suitable numbers, and in one embodiment, a and b may be set based on marina design regulations. For example, a may be a number greater than or equal to 1 and less than or equal to 2, and b may be a number greater than or equal to 2 and less than or equal to 3.

[0130] Meanwhile, in the present disclosure, the first direction and the second direction may be defined based on the berthing area and the reference attitude of the vessel in the berthing area. Specifically, the bow direction according to the reference attitude of the vessel in the berthing area after berthing is completed may be the first direction, and the port direction according to the reference attitude of the vessel in the berthing area after berthing is completed may be the second direction. The first direction and the second direction may be perpendicular to each other.

[0131] In one embodiment, the autonomous navigation processing device can determine a first fixed position heading angle, which is a heading angle of the vessel at a first fixed position (510). In one embodiment, the first fixed position heading angle can be generated based on a guidance path. The guidance path can mean an optimal path while the vessel is moving to a berthing position. In one embodiment, the first fixed position heading angle can have a value between 30 degrees less than a tangent slope at a first point on the guidance path and 30 degrees greater than the tangent slope at a first point on the guidance path. Here, the first point can be the intersection of a line extending from the position of the vessel in a direction perpendicular to the berth entrance (in the direction of mooring or in the direction opposite to the mooring) and the guidance path.

[0132] FIG. 6 is a schematic diagram illustrating a process for calculating a second fixed position according to one embodiment of the present disclosure.

[0133] As described above, in one embodiment, the autonomous navigation processing device can determine the second fixed position by correcting the first fixed position. Furthermore, in one embodiment, the autonomous navigation processing device can determine the second fixed position based on coordinates related to the first fixed position, the landing position, and the landing area.

[0134] Referring to FIG. 6, the eyepiece position (401), the first fixed position (510), the first outer vertex (431), and the second outer vertex (432) are illustrated. The first outer vertex (431) and the second outer vertex (432) may be the same as those described above with reference to FIG. 4.

[0135] In one embodiment, the autonomous navigation processing device may generate a first reference point (601) and a second reference point (602) by moving each of the first outer vertex (431) and the second outer vertex (432) by a predetermined distance in a direction opposite to the first direction. Here, the predetermined distance may be c*L, where L is the length of the vessel, and c may be set to any suitable number. For example, c may be 1 / 2.

[0136] Referring to FIG. 6, a first reference point (601) and a second reference point (602) are shown, which are points where the first outer vertex (431) and the second outer vertex (432) are moved in the opposite direction to the first direction, respectively. Since the first reference point (601) and the second reference point (602) are points where the first outer vertex (431) and the second outer vertex (432) are moved in the opposite direction to the first direction, the line connecting the first outer vertex (431) and the second outer vertex (432) and the line connecting the first reference point (601) and the second reference point (602) can be parallel. That is, the autonomous navigation processing device can generate a line where the line connecting the first outer vertex (431) and the second outer vertex (432) is moved in parallel to the first direction. Here, the distance between the line connecting the first outer vertex (431) and the second outer vertex (432) and the line connecting the first reference point (601) and the second reference point (602) is a parallel displacement distance and may be c*L.

[0137] In one embodiment, the autonomous navigation processing device can determine the second fixed position (610) as the intersection of a line connecting the first reference point (601) and the second reference point (602) and a line connecting the docking position (401) and the first fixed position (510).

[0138] Referring to FIG. 6, a line connecting the first reference point (601) and the second reference point (602) forms an intersection with a line connecting the eyepiece position (401) and the first fixed position (510), and this intersection can be determined as the second fixed position (610).

[0139] In one embodiment, a second fixed position heading angle, which is the heading angle of the vessel at the second fixed position (610), can be determined. In one embodiment, the second fixed position heading angle can be equal to the first fixed position heading angle. In another embodiment, the second fixed position heading angle can be generated in the same manner as the generation of the first fixed position heading angle, i.e., based on a guide path.

[0140] Meanwhile, as described above, in one embodiment, the autonomous navigation processing device can determine a third fixed position by correcting the second fixed position. Furthermore, as described above, the autonomous navigation processing device can determine the third fixed position based on determining that it is necessary to correct the second fixed position, i.e., based on the degree of disturbance being greater than a threshold value.

[0141] In one embodiment, the autonomous navigation processing unit may determine a third fixed position based on a compensation mapping table. The compensation mapping table may be pre-generated data generated through simulations that reflect the ship's dynamic model. The compensation mapping table may include compensation values ​​calculated based on success rates according to the intensity and / or direction of the disturbance. The second fixed position may be compensated based on the compensation values ​​for each position and heading angle selected from the compensation mapping table.

[0142] Meanwhile, as described above, the autonomous navigation processing device can enter a restoration phase based on determining that restoration control is required, and can calculate a restoration position based on entering the restoration phase.

[0143] FIG. 7 is a flowchart illustrating a process for calculating a restoration position according to one embodiment of the present disclosure.

[0144] Referring to Figure 7, the process of calculating the restoration phase is illustrated in detail.

[0145] Referring to FIG. 7, the autonomous navigation processing device can determine the first restoration position (701).

[0146] In one embodiment, the first restoration location may be determined as a point on the guide path.

[0147] FIG. 8a and FIG. 8b are schematic diagrams illustrating a process for calculating a first restoration position according to one embodiment of the present disclosure.

[0148] Referring to Figure 8a, the vessel is shown to have significantly deviated from the guide path (810) including the berthing location (401). Referring to Figure 8a, there may be a risk of the vessel colliding with a berth around the berthing area. In a situation like Figure 8a, the autonomous navigation processing device may determine that restoration control is necessary.

[0149] In one embodiment, the autonomous navigation processing device may determine the first restoration position based on the current vessel position, vessel specifications, guide path, and berth location.

[0150] Specifically, referring to FIG. 8B, the current vessel position (800) is depicted as a coordinate. Also, referring to FIG. 8B, the temporary coordinates (820) in which the current vessel position (800) has moved in a first direction and the first restored position (830) in which the temporary coordinates (820) have moved in a second direction are depicted.

[0151] In one embodiment, the temporary coordinates (820) are coordinates obtained by shifting the current vessel position (800) by a first distance in a first direction, and the first distance may be calculated based on the vessel position, vessel specifications, and the position of the berth. In this case, the first distance may be calculated as a distance at which the berth and the vessel do not overlap at least when looking at the vessel in the second direction. Referring to FIG. 8B, the temporary coordinates (820) may be calculated by shifting the current vessel position (800) by an amount such that the outermost line (802) defining the end of the berth in the first direction does not intersect the vessel.

[0152] In summary, in one embodiment, the first distance may be the minimum distance at which the outermost line (802) defining the end of the berth in the first direction does not intersect with the vessel. In another embodiment, the first distance may be a specific value longer than the minimum distance at which the outermost line (802) defining the end of the berth in the first direction does not intersect with the vessel. For example, the specific value may correspond to the thickness of the vessel's virtual bumper. The virtual bumper may refer to a virtual boundary set around the vessel at a distance that can ensure the safety of the vessel.

[0153] In one embodiment, the first restoration position (830) is a coordinate at which the temporary coordinate (820) has moved a second distance in a second direction, and the second distance can be calculated based on the first restoration position (830) and the guide path (810). In one embodiment, the first direction coordinate of the first restoration position (830) can be the same as the first direction coordinate of the temporary coordinate (820). Since the first restoration position (830) is a point on the guide path (810), the second direction coordinate of the first restoration position (830) can be calculated based on the first direction coordinate of the first restoration position (830), i.e., the first direction coordinate of the temporary coordinate (820). Naturally, the second distance can be the distance between the second direction coordinate of the first restoration position (830) and the second direction coordinate of the temporary coordinate (820).

[0154] In one embodiment, the autonomous navigation processing device may determine a first restoration position heading angle, which is the heading angle of the vessel at the first restoration position (830). In one embodiment, the first restoration position heading angle may be generated based on a guide path. In one embodiment, the first restoration position heading angle may be a slope of a tangent line of the guide path passing through the first restoration position (830).

[0155] Returning to Figure 7, the autonomous navigation processing device can estimate the disturbance (702) based on the state information of the vessel before entering the restoration phase.

[0156] The autonomous navigation processing unit can estimate the degree of disturbance using any method. For example, the autonomous navigation processing unit can estimate the degree of disturbance based on a dynamic model. A dynamic model can refer to a model for analyzing the movement of a vessel as reflected in its state.

[0157] Referring to FIG. 7, the autonomous navigation processing device can determine the second restoration position (703) by correcting the first restoration position based on the estimated disturbance.

[0158] In one embodiment, the autonomous navigation processing device may determine the second restoration position based on a compensation mapping table. Here, the compensation mapping table may be the same as the compensation mapping table that serves as the basis for determining the third fixed position.

[0159] Meanwhile, in one embodiment, the autonomous navigation processing device may determine the second restoration position by correcting the first restoration position only when the degree of disturbance is greater than a threshold value. That is, the autonomous navigation processing device may estimate the disturbance based on the status information of the vessel, determine whether the estimated degree of disturbance is greater than a threshold value, and determine the second restoration position based on whether the estimated degree of disturbance is greater than the threshold value. Accordingly, the autonomous navigation processing device may determine only the first restoration position without determining the second restoration position when the estimated degree of disturbance is not greater than the threshold value.

[0160] FIG. 9 is a flowchart illustrating a process in a docking phase according to one embodiment of the present disclosure.

[0161] As described above, the autonomous navigation processing device can enter the docking phase based on determining that the vessel is approaching a fixed position and that the vessel's condition is stable. Furthermore, the autonomous navigation processing device can enter the docking phase based on determining that the vessel is approaching a restoration position and that the vessel's condition is stable. The process illustrated in Figure 9 can be understood as being performed after entering the docking phase.

[0162] Referring to FIG. 9, the autonomous navigation processing device can control docking of the ship to a berthing position (901).

[0163] That is, the autonomous navigation processing device can control the vessel to reduce its speed from a fixed position or a restored position and to approach the berthing position at a consistent position and attitude.

[0164] In one embodiment, the autonomous navigation processing device may calculate the distance between the berthing location and the ship's location while controlling the docking.

[0165] Referring to FIG. 9, the autonomous navigation processing device can determine (902) whether the distance between the berthing position and the position of the ship is less than a threshold value.

[0166] Here, the size of the threshold can be set to any suitable value.

[0167] Referring to FIG. 9, the autonomous navigation processing device can continuously control docking of the ship to the berthing position based on the distance between the berthing position and the ship's position being not less than a threshold value.

[0168] Referring to FIG. 9, the autonomous navigation processing device can enter the pushing phase (903) based on the distance between the berthing position and the position of the ship being less than a threshold value.

[0169] Referring to FIG. 9, the autonomous navigation processing device can perform pushing control to the docking position (904) based on entering the pushing phase.

[0170] FIG. 10 is a schematic diagram illustrating the concept of pushing control according to one embodiment of the present disclosure.

[0171] In the present disclosure, pushing control may refer to a control that pushes a vessel closer to a berth in a preset direction from a berth location or a location close to a berth location. Here, the preset direction may be preset by matching data regarding the berth or docking location, or may be preset by user input.

[0172] Referring to Figure 10, a process is illustrated in which a vessel generates thrust in a preset direction (1000) from a berthing position (401) to push the vessel closer to the berth. Through this process, the vessel's safety is maintained while maintaining close proximity to the berth, and passengers can disembark safely.

[0173] The pushing control process according to the embodiment of the present disclosure will be described in detail later.

[0174] Returning to Figure 9 again, the autonomous navigation processing unit can determine (905) whether the docking termination conditions are met.

[0175] In one embodiment, the docking termination condition may include a condition regarding the vessel's transverse speed. Specifically, the docking termination condition may be that the vessel's transverse speed is less than a critical speed. Here, the transverse direction may refer to the port-starboard direction of the vessel, perpendicular to the bow direction.

[0176] In one embodiment, the docking termination condition may include a condition regarding the distance between the vessel and the berth. Specifically, the docking termination condition may be that the distance between the vessel and the berth is less than a threshold distance. Here, the distance between the vessel and the berth may be calculated based on the mooring direction, i.e., the direction in which passengers disembark. The distance between the vessel and the berth may be calculated based on the vessel's midpoint, vessel specifications, and the berthing area vertices described above with reference to FIG. 4.

[0177] In one embodiment, the docking termination condition may include both a condition regarding the transverse velocity of the vessel and a condition regarding the distance between the vessel and the berth. That is, the docking termination condition may be satisfied only when both the condition regarding the transverse velocity and the condition regarding the distance between the vessel and the berth are satisfied.

[0178] Referring to FIG. 9, the autonomous navigation processing device can continuously perform pushing control to the docking position (904) based on the docking termination condition not being met.

[0179] Referring to FIG. 9, the autonomous navigation processing device may activate (906) a docking termination input based on the docking termination condition being met.

[0180] In one embodiment, the autonomous navigation processing device may receive a docking termination input from a user. The interface for docking termination input may be activated only when the vessel's condition is suitable for docking termination.

[0181] Referring to FIG. 9, the autonomous navigation processing device can receive a docking termination input (907).

[0182] Based on receiving the docking termination input, the autonomous navigation processing unit can terminate the docking phase and autonomous docking mode.

[0183] FIG. 11 is a flowchart illustrating a process for performing pushing control according to one embodiment of the present disclosure.

[0184] Referring to Figure 11, the process of performing pushing control is illustrated in detail.

[0185] In the present disclosure, the autonomous navigation processing device may determine whether to terminate pushing control or docking based on the transverse speed, while determining a specific ship control method based on the bow speed.

[0186] In one embodiment, the autonomous navigation processing device may acquire the vessel's bow velocity when entering the pushing phase. Here, the bow velocity may be understood to include both positive and negative values. If the bow velocity is positive, the vessel is said to be moving in the bow direction, and if the bow velocity is negative, the vessel is said to be moving in the stern direction.

[0187] Referring to FIG. 11, the autonomous navigation processing device can determine (1101) whether the speed in the direction of the player is less than a first threshold based on entering the pushing phase.

[0188] Referring to FIG. 11, the autonomous navigation processing device can perform control (1102) regarding the heading direction based on the speed in the heading direction being less than a first threshold value.

[0189] In other words, the autonomous navigation processing device can only perform heading control based on whether the ship's heading speed is less than a first threshold value. The first threshold value may be a negative value. For example, the first threshold value may be -0.1 m / s, and only heading control may be performed based on whether the ship is moving toward the stern (backward direction) at a speed greater than 0.1 m / s.

[0190] Referring to FIG. 11, the autonomous navigation processing device can determine (1103) whether the speed in the direction of the bow is greater than a second threshold based on the speed in the direction of the bow being not less than a first threshold.

[0191] Referring to FIG. 11, the autonomous navigation processing device can perform control regarding the heading direction and control regarding the heading angle based on the speed in the heading direction being greater than the second threshold value (1104).

[0192] In other words, the autonomous navigation processing device can simultaneously perform control regarding the heading direction and control regarding the heading angle based on whether the speed of the ship in the heading direction is greater than a second threshold value. The second threshold value may be a positive value. For example, the second threshold value may be 0.2 m / s, and control regarding the heading direction and control regarding the heading angle may be simultaneously performed based on whether the ship is moving in the heading direction (forward direction) of the ship at a speed greater than 0.2 m / s. In this case, control regarding the heading direction may include generating thrust in the stern direction.

[0193] Referring to FIG. 11, the autonomous navigation processing device can perform control regarding the lateral direction and control regarding the heading angle based on the fact that the heading speed is not greater than the second threshold value (1105).

[0194] In other words, the autonomous navigation processing device can simultaneously perform control regarding the lateral direction and control regarding the heading angle based on the speed in the heading direction being greater than or equal to a first threshold value and less than or equal to a second threshold value.

[0195] In one embodiment, control of the heading direction may include generating thrust at a preset constant value. The preset constant value may correspond to the minimum thrust in the bow or stern direction that can be generated by the vessel's engines. That is, the thrust generated by the control of the heading direction does not vary depending on the value of the speed in the bow direction.

[0196] In one embodiment, the control of the heading angle may include generating thrust at a preset constant value. The preset constant value may correspond to thrust generated by the vessel's engine or steering to adjust the heading angle. That is, the thrust generated by the control of the heading angle does not vary depending on the error in the heading angle.

[0197] In one embodiment, the transverse control may include generating a thrust calculated based on the transverse distance between the vessel and the berth. That is, if the transverse distance between the vessel and the berth is long, a relatively strong thrust may be generated, and if the transverse distance between the vessel and the berth is small, a relatively weak thrust may be generated. Here, the transverse distance between the vessel and the berth may be calculated based on the vessel's midpoint, the vessel's specifications, and the berthing area vertex described above with reference to FIG. 4.

[0198] FIG. 12 is a flowchart of a method for calculating a position for controlling the movement of a vessel according to one embodiment of the present disclosure.

[0199] Each step of the method for calculating a position for controlling the movement of a vessel as shown in FIG. 12 can be performed by the autonomous navigation processing device described above, specifically, by the processor of the autonomous navigation processing device.

[0200] At step 1210, the processor may determine a first anchoring position based on the anchoring position and the specifications of the vessel.

[0201] In one embodiment, prior to step 1210, the steps of obtaining input for initiating an autonomous docking mode and initiating the autonomous docking mode, obtaining status information of the vessel, and entering an approaching phase may be further performed.

[0202] In one embodiment, the first fixed position may be determined based on entering the approaching phase.

[0203] In one embodiment, the first fixed positions may be spaced apart by a distance equal to a first constant times the length of the vessel in the bow-stern direction in the first direction, and by a distance equal to a second constant times the length of the vessel in the port-starboard direction in the second direction.

[0204] In one embodiment, the first constant and the second constant may be set based on marina design regulations.

[0205] In one embodiment, step 1210 may include determining a heading angle of the vessel at a first fixed position.

[0206] In step 1220, the processor can determine a second fixed position, to which the first fixed position is corrected, based on coordinates of the first fixed position, the eyepiece position, and the eyepiece area.

[0207] In one embodiment, step 1220 may include calculating a first outer vertex and a second outer vertex defining a safety area in the direction of the vessel's bow secured during the berthing process, based on the berthing area.

[0208] In one embodiment, the second fixed position may be determined as the intersection of a line that is a parallel displacement of a line connecting the first outer vertex and the second outer vertex and a line connecting the first fixed position and the eyepiece position.

[0209] In one embodiment, the distance by which the line connecting the first outer vertex and the second outer vertex is moved parallel may be proportional to the length of the ship in the bow-stern direction.

[0210] In one embodiment, the processor may further perform the steps of estimating a degree of disturbance and determining a third fixed position where the second fixed position is corrected based on whether the degree of disturbance exceeds a threshold value.

[0211] In one embodiment, the third fixed position may be determined based on a compensation mapping table pre-generated through simulation reflecting the ship's dynamic model.

[0212] In one embodiment, the processor may further perform the steps of determining whether recovery control is required and entering a recovery phase based on determining that recovery control is required.

[0213] In one embodiment, the step of determining whether restoration control is required may include the step of calculating a docking success rate in real time and the step of determining whether the docking success rate is below a threshold.

[0214] In one embodiment, the processor may further perform the step of calculating a restoration location based on entering a restoration phase.

[0215] FIG. 13 is a flowchart of a method for controlling berthing of a ship according to one embodiment of the present disclosure.

[0216] Each step of the method for controlling the berthing of a ship illustrated in FIG. 13 can be performed by the autonomous navigation processing device described above, specifically, by the processor of the autonomous navigation processing device.

[0217] At step 1310, the processor may enter the pushing phase based on the ship's position and berthing position.

[0218] In one embodiment, step 1310 may be performed based on a distance between the vessel's position and the berthing position being less than a third threshold value.

[0219] In one embodiment, prior to step 1310, the processor may further perform the steps of entering a docking phase, controlling docking of the vessel to a berthing position, and calculating a distance between the vessel's position and the berthing position.

[0220] In one embodiment, the processor may further perform the step of determining whether the vessel is approaching a stationary position and whether the vessel's condition is stable.

[0221] In one embodiment, the step of entering the docking phase may be performed based on determining that the vessel is approaching a fixed position and that the vessel's condition is stable.

[0222] In one embodiment, prior to step 1310, the processor may further perform the steps of: entering an approaching phase based on initiating an autonomous docking mode; calculating a fixed position based on entering the approaching phase; and controlling the approach of the vessel to the fixed position.

[0223] In one embodiment, the processor may further perform the step of determining whether restoration control is required and, based on determining that restoration control is required, entering a restoration phase.

[0224] At step 1320, the processor can obtain the speed of the ship's bow direction when entering the pushing phase.

[0225] At step 1330, the processor may perform only control regarding the heading direction, control regarding the heading direction and control regarding the heading angle simultaneously, or control regarding the side direction and control regarding the heading angle simultaneously, based on the speed of the ship's heading direction and one or more threshold values.

[0226] In one embodiment, only control regarding the heading direction is performed based on the speed in the heading direction being less than a first threshold value, control regarding the heading direction and control regarding the heading angle are performed simultaneously based on the speed in the heading direction being greater than a second threshold value, and control regarding the lateral direction and control regarding the heading angle are performed simultaneously based on the speed in the heading direction being greater than or equal to the first threshold value and less than or equal to the second threshold value.

[0227] In one embodiment, the first threshold may be a negative value and the second threshold may be a positive value.

[0228] In one embodiment, control over the player's orientation may include generating thrust of a preset constant value.

[0229] In one embodiment, control over the angle of attack may include generating thrust at a preset constant value.

[0230] In one embodiment, the transverse control may include generating a thrust calculated based on a transverse distance between the vessel's position and the berthing position.

[0231] In one embodiment, the processor may further perform the step of activating a docking termination input based on the docking termination condition being satisfied.

[0232] In one embodiment, the processor may further perform the step of terminating the autonomous docking mode based on receiving the docking termination input.

[0233] FIG. 14 is a block diagram of an autonomous navigation processing device according to one embodiment of the present disclosure.

[0234] The device (1400) illustrated in FIG. 14 may be the autonomous navigation processing device described above.

[0235] Referring to FIG. 14, the device (1400) may include a communication unit (1410), a communication unit (1420), and a database (1430). Only components related to the embodiment are illustrated in the device (1400) of FIG. 14. Therefore, those skilled in the art will understand that other general components may be included in addition to the components illustrated in FIG. 14.

[0236] The communication unit (1410) may include one or more components that enable wired / wireless communication with an external server or external device. For example, the communication unit (1410) may include at least one of a short-range communication unit (not shown), a mobile communication unit (not shown), and a broadcast receiving unit (not shown).

[0237] DB (1430) is hardware that stores various data processed within the device (1400), and can store programs for processing and controlling the communication unit (1420). DB (1430) can store payment information, user information, etc.

[0238] DB (1430) may include random access memory (RAM) such as dynamic random access memory (DRAM), static random access memory (SRAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), CD-ROM, Blu-ray or other optical disk storage, hard disk drive (HDD), solid state drive (SSD), or flash memory.

[0239] The communication unit (1420) controls the overall operation of the device (1400). For example, the communication unit (1420) can control the input unit (not shown), the display (not shown), the communication unit (1410), the DB (1430), etc., by executing programs stored in the DB (1430). The communication unit (1420) can control the operation of the device (1400) by executing programs stored in the DB (1430).

[0240] The communication unit (1420) can control at least some of the operations of the device (1400) described above in FIGS. 1 to 13.

[0241] The communication unit (1420) may be implemented using at least one of application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), controllers, micro-controllers, microprocessors, and other electrical units for performing functions.

[0242] In one embodiment, the device (1400) may be a mobile electronic device. For example, the device (1400) may be implemented as a smartphone, tablet PC, PC, smart TV, personal digital assistant (PDA), laptop, media player, navigation device, camera-equipped device, or other mobile electronic device. Furthermore, the device (1400) may be implemented as a wearable device, such as a watch, glasses, hair band, or ring, equipped with communication and data processing capabilities.

[0243] 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.

[0244] 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 may 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.

[0245] 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.

[0246] 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 more 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.

[0247] Therefore, the idea of ​​the present invention should not be limited to the embodiments described above, and not only the scope of the patent claims described below but also all scopes equivalent to or equivalently modified from the scope of the patent claims are considered to fall within the scope of the idea of ​​the present invention.

Claims

1. A method for calculating a position to control the movement of a ship, A step of determining a first anchoring position based on the berthing position and the specifications of the vessel; and A step of determining a second fixed position in which the first fixed position is corrected based on coordinates of the first fixed position, the eyepiece position and the eyepiece area; including, method.

2. In paragraph 1, A step for estimating the degree of disturbance; and A step of determining a third fixed position in which the second fixed position is corrected based on the degree of the disturbance exceeding a threshold value; including more, method.

3. In paragraph 2, The third fixed position is, It is determined based on a compensation mapping table generated in advance through simulation reflecting the dynamic model of the above ship. method.

4. In paragraph 1, A step of acquiring input for initiating an autonomous docking mode; and A step of initiating the autonomous docking mode, acquiring status information of the vessel, and entering the approaching phase; Including more, The above first fixed position is Based on entering the above approaching phase, method.

5. In paragraph 1, The above first fixed position is, From the above berthing position, a distance equal to the length of the ship in the bow-stern direction multiplied by a first constant in the first direction is spaced apart, and a distance equal to the length of the ship in the port-starboard direction multiplied by a second constant in the second direction is spaced apart, method.

6. In paragraph 5, The above first constant and the above second constant are, Based on the marina design regulations, method.

7. In paragraph 1, The step of determining the first fixed position is: A step of determining the bow angle of the vessel at the first fixed position; including, method.

8. In paragraph 1, The step of determining the second fixed position is: A step of calculating a first outer vertex and a second outer vertex defining a safety area in the direction of the bow of the vessel secured during the berthing process based on the above berthing area; including, method.

9. In paragraph 8, The above second fixed position is, The line connecting the first outer vertex and the second outer vertex is determined as the intersection of a parallel line and a line connecting the first fixed position and the eyepiece position. method.

10. In paragraph 9, The parallel displacement distance of the line connecting the first outer vertex and the second outer vertex is Proportional to the length of the bow-stern direction of the above vessel, method.

11. In paragraph 1, a step of determining whether recovery control is required; and A step of entering a restoration phase based on determining that the above restoration control is required; including more, method.

12. In paragraph 11, The step of determining whether the above restoration control is required is: A step for calculating the docking success rate in real time; and A step of determining whether the above docking success rate is less than or equal to a threshold value; including, method.

13. In paragraph 11, Based on entering the above restoration phase, Step of calculating the restoration location; including more, method.

14. A device that calculates a position to control the movement of a ship. memory in which at least one program is stored; and A processor that operates by executing at least one program; The above processor, Based on the berthing location and the ship's specifications, determine the first anchoring location, Based on the coordinates of the first fixed position, the eyepiece position and the eyepiece area, the first fixed position determines a second fixed position corrected. device.

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

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