LiDAR Docking Control for Long-Range Ship Berth Measurement
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Solution Overview
Problem
Conventional automatic docking devices face challenges in accurately measuring distance to a docking position from a long distance, which affects the accuracy of ship maneuvering and automatic navigation.
Innovation Solution
An automatic docking device equipped with an optical sensor, position information input unit, and control unit, where the optical sensor performs preparatory measurements by adjusting the ship's orientation or position to ensure accurate distance measurement, and the control unit uses this data for smooth navigation and docking, incorporating features like LiDAR for 3D scanning and a camera for image recognition.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Length of stationary object
If the optical sensor measures distance from a long distance, then the measurement range is extended, but the measurement precision deteriorates
Solution Approach 1:
The system performs preparatory measurement by adjusting the ship's orientation or position before the main measurement. This preliminary action positions the optical sensor optimally to capture reflected light from the docking position, ensuring accurate distance measurement even from long distances. The control unit calculates the required orientation adjustment based on the ship's current state and the target docking position.
Solution Approach 2:
The invention makes the measurement system dynamic by allowing the ship to change its orientation and position during the measurement process. The control unit dynamically adjusts the ship's attitude (roll, pitch, yaw) to optimize the optical path between the sensor and the docking position, enabling accurate measurements at various distances and angles.
2Measurement precision
If the ship changes orientation or position for preparatory measurement, then the measurement accuracy improves, but the operation complexity increases
Solution Approach 1:
The system performs self-service by automatically calculating and executing the orientation adjustment without external intervention. The control unit autonomously determines the required attitude change based on sensor data and ship state, then commands the control surface actuators to make the necessary adjustments. This self-service capability maintains measurement precision while minimizing operational complexity.
Solution Approach 2:
The system implements feedback control by continuously monitoring the ship's orientation and position, comparing it with the desired state for optimal measurement, and making real-time adjustments. The control unit receives feedback from sensors about the current ship attitude and docking position, then adjusts the control surfaces to achieve the optimal measurement configuration.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables accurate and quick measurement of distances to docking positions from a long distance, improving the precision of automatic navigation and docking operations, while reducing power consumption and enhancing user interaction through emergency stop functionality.
Implementation Method 1
The optical sensor includes a light emitting part and a light receiving part, and receives, at the light receiving part, light from the light emitting part reflected by an object, to thereby measure a distance to a surrounding object
Data Source
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AI summary
A LiDAR (21) included in this automatic docking device (1) measures the distance to a surrounding object at each predetermined angle by irradiating the object with light and receiving the light reflected by the object. When a ship (80) offshore is instructed to perform automatic docking, the ship (80) navigates to some extent by automatic navigation based on satellite positioning, and is then switched to automatic navigation based on the LiDAR (21). Before switching to the automatic navigation based on the LiDAR (21), the LiDAR (21) performs preparatory measurement for measuring the distance to an object around a docking position. In this preparatory measurement, a control unit (43) controls to change, for example, the orientation of the ship (80) such that light emitted from the LiDAR (21) can be reflected by the object around the docking position and can be received by the LiDAR (21).