Autonomous Ship Berthing Control Using Dynamic Positioning
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Solution Overview
Problem
Existing technologies for berthing or unberthing ships, especially for leisure ships, face challenges due to user skill limitations and environmental disturbances, leading to potential accidents and increased complexity and cost with the use of bow thrusters and stern thrusters.
Innovation Solution
A control method and apparatus using a plurality of sensors and an algorithm for autonomously controlling the berthing or unberthing of ships through dynamic positioning, adjusting the ship's location and posture, and generating a guidance path for safe docking.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If users operate ships manually using steering wheel and throttle, then users can control the ship, but inexperienced users cannot berth or unberth safely due to lack of driving skills and environmental disturbances
Solution Approach 1:
The ship performs berthing and unberthing operations autonomously without requiring user skills. The control apparatus automatically controls the ship's movement, positioning, and maneuvering during berthing operations, eliminating the need for user driving skills while ensuring safety through automated decision-making and control.
2Ease of operation
If bow thrusters and stern thrusters are installed to assist berthing control, then berthing control capability is improved, but device complexity and cost increase
Solution Approach 1:
The control apparatus utilizes the ship's existing propulsion system and rudder for berthing maneuvers, making the existing components perform multiple functions including normal navigation and berthing operations. This eliminates the need for separate bow and stern thrusters, reducing device complexity while maintaining berthing control capability.
Solution Approach 2:
The patent extracts the berthing control function from dedicated thruster systems and implements it through the main propulsion and steering system. By removing the requirement for separate bow and stern thrusters, the system simplifies the overall device structure while achieving the desired berthing control capability through intelligent algorithmic management.
3Extent of automation
If advanced berthing technology with multiple sensors and algorithms is implemented, then automation and safety are improved, but system complexity increases
Solution Approach 1:
The control apparatus integrates multiple sensors (GPS, compass, speed sensor) and control functions into a single unified system. By merging the automation logic, sensor processing, and actuator control into one integrated control apparatus, the system achieves high automation while managing complexity through consolidation rather than proliferation of separate systems.
Data Source
AI summary
According to an embodiment, there is provided a control method for autonomously berthing a ship including obtaining ship state information and berth information, setting a DP point; an approaching operation of controlling the ship to approach the DP point; and a dynamic positioning operation of adjusting a location and posture of the ship based on an error rate between the DP point and a current location of the ship.