Autonomous Vessel Docking with Harbor Track Mode Switching
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Solution Overview
Problem
Current technologies lack an efficient and reliable method for autonomous marine vessel maneuvering, particularly for safe and precise docking and undocking processes.
Innovation Solution
A computer-implemented method and apparatus for autonomous marine vessel docking, which determines a transit control mode and switches to an autonomous docking control mode based on predefined harbor track data, using location, speed, and heading information to adjust thruster commands and align the vessel with setpoint positions and speeds, enabling precise control through dynamic setpoints and closed-loop controllers.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If autonomous docking control mode is implemented, then docking precision and safety are improved, but system complexity increases
Solution Approach 1:
The autonomous docking system is segmented into multiple independent modules: harbor track data management module, vessel state detection module (location, speed, heading), approach zone evaluation module, and thruster control module. Each module handles a specific aspect of the docking process, reducing overall system complexity while maintaining high docking precision through coordinated operation of these specialized components.
Solution Approach 2:
The system performs preliminary actions by pre-defining harbor track data including approach zone boundaries, maximum speed limits, and heading deviation thresholds before docking operations begin. This pre-programmed guidance information enables the vessel to autonomously navigate to the docking position without real-time complex decision-making, simplifying the control system while ensuring precise docking.
2Productivity
If dynamic setpoint adjustment is used, then docking efficiency is improved, but control complexity increases
Solution Approach 1:
The system implements dynamic setpoint adjustment where the target position, speed, and heading are continuously updated based on the vessel's current state and harbor track data. The setpoint position evolves along the predefined harbor track, the setpoint speed adjusts according to approach zone requirements, and the setpoint heading aligns with the track geometry. This dynamic adaptation improves docking efficiency by optimizing the trajectory in real-time while the underlying structure remains manageable through the predefined track framework.
3Measurement precision
If closed-loop control with thruster commands is implemented, then position accuracy is improved, but response time increases
Solution Approach 1:
The system employs closed-loop control by continuously comparing the vessel's actual position, speed, and heading with the dynamic setpoints derived from harbor track data. The control module calculates thruster commands based on the deviations and adjusts propulsion accordingly. This feedback mechanism maintains high position accuracy while the use of pre-calculated thruster commands based on standardized control algorithms minimizes computational delay, balancing accuracy and response time.
Data Source
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AI summary
Apparatus and computer-implemented method for autonomous marine vessel docking, the method comprising: determining a transit control mode associated with route plan data defining transit operation between ports; determining an autonomous docking control mode associated with harbor track data comprising a set of waypoint properties and defining approach zone information and track segments joined at waypoints. Method further comprises determining vessel location, speed and heading; comparing the vessel location, speed and heading to the approach zone information and changing from the transit control mode to the autonomous docking control mode in response to: the vessel location comprised by the location area information; the vessel speed being lower than the maximum vessel speed for entering the approach zone; and the vessel heading matching criteria defined by the maximum heading deviation for entering the approach zone.