Tug Approach Control Using Proximity Sensors
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Solution Overview
Problem
Tugboats face challenges in safely approaching and maneuvering vessels without causing damage, especially in difficult weather conditions, due to the need for precise control of distance, speed, and force during pushing operations, which can be hazardous for human spotters.
Innovation Solution
A tug equipped with proximity sensors and force sensors integrated into tug fenders, along with a tug controller unit that autonomously controls the approach based on detected distance, speed, and force, utilizing dynamic positioning control systems to adjust movement and thrust, incorporating data from the vessel's speed and heading, and environmental factors.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a spotter stands on the bow of the tug to observe the distance between the tug and the vessel, then the distance measurement is direct and simple, but the spotter is exposed to risk of personal injury
Solution Approach 1:
The patent introduces an intermediary device (distance measuring device such as radar, laser, or ultrasonic sensor) to measure the distance between the tug and the vessel. This mediator performs the measurement function that would otherwise require a human spotter, eliminating the need for a person to be in the hazardous position while maintaining accurate distance measurement capability.
Solution Approach 2:
The patent replaces the mechanical/human-based distance measurement method (visual observation by a spotter) with an automated sensing system. The distance measuring device uses electromagnetic waves or sound waves to measure distance, substituting the human sensory and motor system with an automated technological system that eliminates personal injury risk.
2Productivity
If the tug approaches the vessel quickly to improve efficiency, then the productivity increases, but the risk of damage to the tug or vessel increases
Solution Approach 1:
The patent implements a feedback control system where the distance measuring device continuously monitors the distance between the tug and the vessel, and this information is fed back to the tug controller. The controller automatically adjusts the tug's speed and position based on the real-time distance data, enabling the tug to approach efficiently while maintaining a safe distance to prevent damage.
Solution Approach 2:
The patent employs dynamic control of the tug's approach speed based on real-time distance measurements. The tug controller dynamically adjusts the propulsion system to optimize the approach speed at different stages - allowing faster approach when distance is large, and automatically reducing speed as the tug nears the vessel, thereby balancing productivity with safety.
3Manufacturing precision
If the tug captain manually controls the approach to ensure precision, then the maneuvering accuracy improves, but the operation complexity and time consumption increase
Solution Approach 1:
The patent implements a self-service control system where the tug controller autonomously manages the approach operation based on data from the distance measuring device. The system automatically calculates the optimal approach path and speed adjustments without requiring continuous manual intervention, thereby maintaining high maneuvering accuracy while reducing operational time and complexity.
Solution Approach 2:
The patent replaces the manual mechanical control system with an automated electronic control system. The tug controller processes distance measurement data and automatically adjusts propulsion and steering, substituting the captain's manual operations with an automated system that responds faster and more consistently, improving both accuracy and efficiency.
4Measurement precision
If multiple force sensors are used to measure impact accurately, then the measurement precision improves, but the device complexity increases
Solution Approach 1:
The patent divides the impact measurement function into multiple segmented force sensors distributed at different locations on the tug. Each sensor measures the local impact force at its specific position, and the tug controller integrates these segmented measurements to calculate the total impact and determine the appropriate response. This segmentation approach improves measurement precision by capturing spatial variations in impact forces.
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 safe and precise maneuvering of vessels by autonomously controlling the tug's approach and thrust, reducing the risk of damage and injury, while optimizing pushing force direction and magnitude, even in challenging conditions.
Implementation Method 1
The proximity sensor may be one of a sonar, radar, lidar, Doppler radar, inductive proximity sensor and ultrasonic sensor
Implementation Method 2
The proximity sensor may be one of a sonar, radar, lidar, Doppler radar, inductive proximity sensor and ultrasonic sensor
Implementation Method 3
The proximity sensor may be one of a sonar, radar, lidar, Doppler radar, inductive proximity sensor and ultrasonic sensor
Implementation Method 4
The proximity sensor may be one of a sonar, radar, lidar, Doppler radar, inductive proximity sensor and ultrasonic sensor
Implementation Method 5
The force sensor being configured to measure an impact between the contact area and the vessel
Data Source
Figure 1
Figure 2a~2b
Figure 3~4
AI summary
The invention relates to a tug for maneuvering a vessel, comprising at least one proximity sensor in a contact area, the proximity sensor being configured to detect a distance between the contact area and the vessel, and a tug controller unit controlling an approach of the tug towards the vessel based on the detected distance between the contact area and the vessel.