Marine Docking Support with LiDAR and Sonar Obstacle Detection
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Solution Overview
Problem
Millimeter wave radars face challenges in accurately measuring relative distances and angles between marine vessels and docking objects due to variations in reflection intensity, resolution limits, specular reflection, and interference from non-object bodies, leading to potential failure in detecting obstacles like buoys and stakes.
Innovation Solution
A docking support device incorporating LiDAR for enhanced distance measurement accuracy, combined with short-range body detection sensors like sonar for improved obstacle detection, and a controller unit to determine docking feasibility based on sensor outputs.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If millimeter wave radar is used for distance measurement, then automatic docking can be performed, but measurement accuracy deteriorates due to reflection intensity variation, resolution limits, and specular reflection
Solution Approach 1:
The patent combines multiple sensor types (millimeter wave radar, LiDAR, and short-range sensors) into an integrated sensing system. Each sensor compensates for the weaknesses of others: LiDAR provides accurate distance measurement unaffected by reflection intensity variation, while short-range sensors detect small obstacles that LiDAR might miss. This multi-sensor fusion resolves the contradiction by maintaining automation while improving measurement precision through redundant and complementary measurement channels.
Solution Approach 2:
The patent changes the measurement parameters by using different sensor technologies with different operating principles. Instead of relying solely on millimeter wave radar with its specific wavelength and detection characteristics, the system introduces LiDAR with laser-based ranging and short-range sensors with different detection ranges. This parameter diversification allows the system to overcome the resolution limits and reflection issues inherent in single-sensor millimeter wave radar, thereby improving measurement accuracy while maintaining automatic docking capability.
2Measurement precision
If LiDAR is used for distance measurement, then resolution and accuracy improve, but detection of small obstacles becomes difficult due to laser irradiation limitations
Solution Approach 1:
The patent employs short-range body detection sensors specifically designed for detecting small obstacles at close distances. These sensors operate in the near-field region where their detection capability is optimized, compensating for LiDAR's weakness in detecting small objects. By adding this partial detection capability with a specialized sensor, the system overcomes LiDAR's limitation without compromising its high-accuracy distance measurement function.
Solution Approach 2:
The short-range body detection sensors act as intermediaries for detecting small obstacles that LiDAR cannot reliably detect. These sensors fill the detection gap in the near-field region, mediating between the LiDAR's long-range accurate measurement and the need for small obstacle detection. The combined output from both sensor types provides comprehensive coverage, resolving the contradiction between measurement precision and small obstacle detectability.
3Measurement precision
If scanning with high angular resolution is employed, then obstacle detection accuracy improves, but rolling of marine vessel produces areas out of scanning range
Solution Approach 1:
The patent segments the detection task by using multiple sensors positioned at different locations and orientations on the marine vessel. Instead of relying on a single complex scanning system that must account for vessel rolling, the detection function is divided among multiple sensors with simpler, fixed scanning patterns. This segmentation allows each sensor to maintain a stable detection zone while collectively providing comprehensive coverage despite vessel motion.
Solution Approach 2:
The patent creates a multi-functional detection system where multiple sensors serve both individual and collective functions. Each sensor performs distance measurement and obstacle detection in its specific field of view, while the combined system provides comprehensive 360-degree coverage and maintains detection accuracy despite vessel rolling. This universal approach resolves the contradiction by distributing the scanning function across multiple simpler sensors rather than requiring one complex scanning system.
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
The system enhances distance measurement accuracy for docking objects and detects obstacles with high certainty, ensuring safe and accurate marine vessel docking by integrating LiDAR and short-range sensors for comprehensive coverage.
Implementation Method 1
a LiDAR (Light Detection and Ranging) which detects a distance of a body lying in the surroundings of an own marine vessel, with the use of a laser
Implementation Method 2
a LiDAR (Light Detection and Ranging) which detects a distance of a body lying in the surroundings of an own marine vessel, with the use of a laser
Implementation Method 3
a short range body detection sensor which has a detectable distance of the body shorter than that of the LiDAR
Data Source
AI summary
To provide a docking support device of a marine vessel, which is capable of improving the accuracy in the distance measurement of a docking object, and can determine whether docking at the docking object is achievable or not, by detecting an obstacle which lies in the surrounding area of an own marine vessel. A docking support device of a marine vessel includes a LiDAR with the use of a laser, a short range body detection sensor, a docking object detector detecting a docking object based on an output signal of the LiDAR, an obstacle detector detecting an obstacle based on an output signal of the short range body detection sensor, and a docking determination calculator determining whether docking at the docking object is achievable or not, based on a determination result of the docking object and a detection result of the obstacle, and outputs a determination result.