CN110254648A - A kind of control system for assisting ship entering and leaving port using DP - Google Patents
A kind of control system for assisting ship entering and leaving port using DP Download PDFInfo
- Publication number
- CN110254648A CN110254648A CN201910400280.8A CN201910400280A CN110254648A CN 110254648 A CN110254648 A CN 110254648A CN 201910400280 A CN201910400280 A CN 201910400280A CN 110254648 A CN110254648 A CN 110254648A
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- ship
- signal
- controller
- control
- control unit
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H21/00—Use of propulsion power plant or units on vessels
- B63H21/21—Control means for engine or transmission, specially adapted for use on marine vessels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
- B63H25/02—Initiating means for steering, for slowing down, otherwise than by use of propulsive elements, or for dynamic anchoring
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
- B63H25/02—Initiating means for steering, for slowing down, otherwise than by use of propulsive elements, or for dynamic anchoring
- B63H25/04—Initiating means for steering, for slowing down, otherwise than by use of propulsive elements, or for dynamic anchoring automatic, e.g. reacting to compass
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
- B63H25/42—Steering or dynamic anchoring by propulsive elements; Steering or dynamic anchoring by propellers used therefor only; Steering or dynamic anchoring by rudders carrying propellers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H21/00—Use of propulsion power plant or units on vessels
- B63H21/21—Control means for engine or transmission, specially adapted for use on marine vessels
- B63H2021/216—Control means for engine or transmission, specially adapted for use on marine vessels using electric control means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
- B63H25/02—Initiating means for steering, for slowing down, otherwise than by use of propulsive elements, or for dynamic anchoring
- B63H2025/024—Handle-bars; Posts for supporting handle-bars, e.g. adjustable posts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
- B63H25/02—Initiating means for steering, for slowing down, otherwise than by use of propulsive elements, or for dynamic anchoring
- B63H25/04—Initiating means for steering, for slowing down, otherwise than by use of propulsive elements, or for dynamic anchoring automatic, e.g. reacting to compass
- B63H2025/045—Initiating means for steering, for slowing down, otherwise than by use of propulsive elements, or for dynamic anchoring automatic, e.g. reacting to compass making use of satellite radio beacon positioning systems, e.g. the Global Positioning System [GPS]
Abstract
The invention discloses a kind of control systems that ship entering and leaving port is assisted using DP, including measuring part, control section, power section and thruster part, the control section includes controller, and it is connected to the controller for driving the manual control unit and automatic control unit of ship's navigation respectively, and computer software, the laser orientation system that distance is moved closer to for real-time monitoring ship connecting with the control section by wireless signal is provided on harbour or harbour, when actual ship position parameter reaches the distance parameter of preset automatic control ship displacement, it sends and drives the signal of ship automatic shift to automatic control unit, the signal for stopping manual manipulation being sent simultaneously to manual control unit, control ship automatic steady is stopped to presetting anchor point.The present invention is fed back by live signal, can be accomplished to be precisely controlled main thruster and side propeller, be realized the accuracy of the final stop position of ship.
Description
Technical field
The present invention relates to ship control technical field more particularly to a kind of control systems that ship entering and leaving port is assisted using DP
System.
Background technique
Ship arrival & departure port is from pool operation, this work has certain risk, belongs to ship key behaviour
Make.Existing steamer berths, some need pilotage staffing, and there is some need the captain of rich experiences to complete, without one
A unified berth mode, and in automobile industry, the stop of automobile is monitored by ultrasonic wave, is completed by left and right visor
It stops, but ship is bigger than automobile, and the stop mode of automobile can only apply to closely, the stop environment letter on periphery
It is single, and the distance of vessel berth leaving wharf is farther out, it is this be similar to automobile by way of be unable to reach requirement, and ship exists
It also needs to consider stormy waves stream in docking process, such as the wind speed of wind, the flow velocity etc. of water.Traditional ship go to dock usually captain utilization
Good sailing sets accommodation in advance, finds into pool angle, controls ship's speed etc., is pushed away using vehicle, rudder, tugboat, side, anchor and cable
The cooperation of rope etc. could smoothly lean on upper terminal.Current most of ships or captain manipulate, be when going to dock fore, stern in turn
It is closer to harbour, ceaselessly controls rotating forward, the reversion of propeller, and operates the direction of rudder, makes fore, stern respectively close to code
Repeatedly after movement, last stop is done by inertia for head, and virtually all of ship is all in a sense by ship in water
In inertia, and realized by the intervention of rudder, large ship, position bad harbour, the ship needs that reach port are taken quite
The long time.And to high with the skill requirement for the operator that brings to, here to the experience of captain, diversion, especially one
In the undesirable situation of a little weather conditions, this berthing scheme is very big by being influenced.If since captain's technology is not in place, to extension
Situations such as saliva that reaches port is literary, meteorological is unfamiliar with, and drags although tugboat has been used to help during berthing, due to commanding improper, ship
The accident that bow and stevedoring bridge crane bump against when pool.Although some anti-impacting bearings are mounted in front of port berth, due to ship
Inertia force be much larger than land automobile, braking ability is still poor, in berthing, since speed control is improper, causes
Ship and harbour still have huge impact force when contacting, and cause serious consequence.When especially sea situation is bad, at sea also occur
The accident that some ships and harbour bump against.
As intelligence is applied to all trades and professions more and more, it is current ship, shipping neck that ship intelligence, which also becomes,
The innovation subject in domain, how to realize ship it is automatic by docking be wherein one of key technology.The intelligentized existing skill of ship
In art, the unmanned manipulation technology of unmanned boat is more advanced, although there is the berthing mode of some mechanical arm crawls, but leans on
Anchor alongside the shore side when still can't do without artificial participation, when ship pulls in shore, generally still need manual operation heaving pile, berth.CN
207529224 U disclose a kind of automatic docking system of ship, and harbour is stopped the real-time of edge using camera in all directions
Situation is conveyed to control system, corresponds to relevant parameter according to harbour situation by control system, adjusts propulsion system by control system
Running track, to realize that automatic 107672745 A of berthing function CN discloses a kind of automatic mooring gear of ship and ship,
Wherein, the automatic mooring gear of the ship includes fixed column, mooring component, driving device and controller, and fixed column has court
Preceding stage portion；Mooring component includes mounting cylinder and multiple claws, and one end of multiple claws is installed on mounting cylinder turnablely
Front end, with retaining positions close to each other and the unbuckled position being located remotely from each other, when being in retaining positions, multiple claws are used
With the stage portion clamping with fixed column, so that mooring component is fixed with fixed column, when being in unbuckled position, multiple claws are used
To be unbuttoned with fixed column；Driving device is installed on mounting cylinder, and drives multiple claw overturnings, so that multiple claws are in the card
It holds and switches between position and unbuckled position；Controller and the driving device are electrically connected, control driving device operating.CN
A kind of automatic berthing device of ship of 204825794 U.Ship is mainly solved in berthing, the time is long, at high cost, low efficiency and
The low technical problem of safety.It is characterized in that, the port berth is equipped with front electromagnet, the middle part electromagnetism being sequentially distributed
Iron and rear portion electromagnet further include the control for controlling front electromagnet, middle part electromagnet and rear portion electromagnet and being powered or powering off
Mechanism processed, the front electromagnet, middle part electromagnet and rear portion electromagnet respectively with the stem of ship, middle part and tail portion magnetic
Inhale cooperation.Only need to connect the power supply of electromagnet, which will generate powerful magnetism, top by magnetic attraction hull
Harbour.
Above patent describe the prior arts related with automatic berthing, by technology disclosed above it is found that due to ship
When pulling in shore, the influence of wind speed, water flow and stormy waves to ship is the largest, and wind speed, water flow and stormy waves real-time change, at this
In the case of kind, no matter using signal detection, magnetic force control or claw auxiliary, can not realize when pulling in shore to ship it is quick,
Safety is smoothly precisely controlled, and can not also accomplish that completely disengaging manual operation realizes automation entering and leaving port, this becomes current system
The about a great problem of quick, safe, the steady entering and leaving port of ship.
Summary of the invention
In view of the deficienciess of the prior art, being realized manually, certainly the technical problem to be solved by the invention is to provide a kind of
Dynamic cooperation control, it is ensured that the control system that ship entering and leaving port is assisted using DP of quick, safe, the steady entering and leaving port of ship.
In order to solve the above technical problems, the technical solution used in the present invention is: a kind of assist ship entering and leaving port using DP
Control system, including measurement part, control section, power section and thruster part, thruster part include main thruster
And side propeller, the measurement portion point include one for acquiring gyro compass of the ship bow to signal, one for acquiring locating for ship
The anemoclinograph of environment wind direction and wind velocity signal, one for receiving the Differential Global Positioning System of satellite positioning signal, the control
System part includes controller, and the manual control unit connected to the controller for driving ship's navigation and automatic control respectively
Unit processed, and the information for acquiring measurement part being connected respectively with controller handle and export control instruction
To thruster part to realize computer software of the scheduled ship bow to control, location control or motion control, at port
It is provided on mouth or harbour and moves closer to distance for real-time monitoring ship by what wireless signal was connect with the control section
Laser orientation system, when ship drives into berthing region, preset anchor point accommodation coordinate parameters and automatically control ship
The distance parameter of oceangoing ship displacement starts manual control unit and manipulates ship to ship anchor point direction quick sailing, when ship navigates
When row is to close to harbour, measurement portion distribution send ship actual ship position signal to controller, while laser orientation system sends ship
The signal of the actual parameter of harbour distance is moved closer to controller, controller is compared by signal, when actual ship position parameter reaches
To it is preset automatic control ship displacement distance parameter when, send driving ship automatic shift signal to automatically control
Unit, while the signal for stopping manual manipulation being sent to manual control unit, the wind received in conjunction with measurement part, wave, stream are real-time
Information sends enabling signal to main thruster and/or side propeller, changes vessel position or bow in balanced action in ship
Perturbed force and disturbing moment under the premise of, control ship automatic steady is stopped to presetting anchor point.
The above-mentioned control system that ship entering and leaving port is assisted using DP, the laser orientation system are stopped direction along ship and existed
Harbour or harbour set gradually multiple.
The above-mentioned control system that ship entering and leaving port is assisted using DP, the controller send driving ship automatic shift
After signal to automatic control unit, computer software by comparator continuously to measurement fractional transmission come wind, wave, stream
Equal real-time data signals are comprehensively compared with the accommodation coordinate parameters for presetting anchor point, are showing that acts on a ship
After the vector external force or error amount of upper real-time change, controller according to vector external force and error amount, setting index constantly into
Row operation calculates automatically and generates the ship trajectory for reaching setting place, while issuing and promoting to main thruster and side propeller
Instruction, the vector for generating each propeller close thrust and change the thrust for making ship and outer active force with the variation of vector external force
It is mobile accurately to press desired trajectory low speed for the state balanced as one.
The above-mentioned control system that ship entering and leaving port is assisted using DP, the manual control unit include one for realizing ship
The front and rear, left and right of oceangoing ship and the manual joystick of instantaneous displacement, manual joystick are believed by shift simulation input unit and controller
Number connection, further includes one sending a signal to controller when manual joystick is by displacement signal input displacement simulation input unit,
Controller sends the automatic control mode switching module of pause signal to automatic control unit, and the MANUAL CONTROL mode switches mould
Block is connect with controller signals.
The above-mentioned control system that ship entering and leaving port is assisted using DP, the automatic control unit include moving parameter input
Module, the moving parameter input module are connect with controller signals, further include one when moving parameter is input to parameter input mould
Controller is sent a signal to when block, controller sends the MANUAL CONTROL mode switching module of pause signal to manual control unit,
The MANUAL CONTROL mode switching module is connect with controller signals.
The above-mentioned control system that ship entering and leaving port is assisted using DP, the gyro compass collect ship bow to sending out after signal
It send to controller, computer software is generated control signal compared with setting course by actual heading and is output to propulsion
Device acts propeller, and the deviation for keeping ship actual heading and setting between course is minimum, carries out Heading control.
The present invention assists the advantages of control system of ship entering and leaving port to be using DP: the present invention is using at a distance manually controlling
Ship's navigation, the closely automatic, control mode steadily pulled in shore, can be improved ship's speed in long-distance navigation, effectively shortens ship
Oceangoing ship pulls in shore the time, closely pulls in shore to assist using dynamic positioning system, can be realized vessel position, the accuracy on direction,
Under the influence of wind, wave, stream, it can effectively ensure that ship is smoothly made up close to harbour by the auxiliary positioning of laser orientation system
Differential Global Positioning System is unable to control the problem of ship pulls in shore automatically when swinging of signal timing so that control it is more accurate,
Safety, while the actual range parameter of ship bow, stern when close to harbour can be detected in laser orientation system, passes through live signal
Feedback, can accomplish to be precisely controlled main thruster and side propeller, realize the accuracy of the final stop position of ship.
Detailed description of the invention
Fig. 1 is the schematic diagram that approaches automatically of the invention；
Fig. 2 is circuit structure block diagram of the invention；
Fig. 3 is the distribution map of ship main thruster and side propeller.
Specific embodiment
With reference to the accompanying drawing and specific embodiment is described in further details the present invention；
As shown in Figure 1, 2, 3, a kind of control system for assisting ship entering and leaving port using DP, including measurement part, control unit
Point, power section and thruster part, thruster part includes main thruster and side propeller, and measurement portion point includes one for adopting
Collect gyro compass of the ship bow to signal, one for acquiring the anemoclinograph of ship local environment wind direction and wind velocity signal, and one is used for
Receive the Differential Global Positioning System of satellite positioning signal.Control section includes controller, and connected to the controller respectively
For driving the manual control unit and automatic control unit of ship's navigation.Manual control unit includes one for realizing ship
The manual joystick of front and rear, left and right and instantaneous displacement, manual joystick are connected by shift simulation input unit and controller signals
It connects, further includes one sending a signal to controller when manual joystick is by displacement signal input displacement simulation input unit, control
Device send pause signal to automatic control unit automatic control mode switching module, the MANUAL CONTROL mode switching module with
Controller signals connection.Automatic control unit includes moving parameter input module, the moving parameter input module and controller
Signal connection further includes one sending a signal to controller when moving parameter is input to parameter input module, and controller sends temporary
Stop the MANUAL CONTROL mode switching module of signal to manual control unit, the MANUAL CONTROL mode switching module and controller are believed
Number connection.
The invention also includes one be connected respectively with controller for will measurement part acquisition information handled and incite somebody to action
Control instruction exports to thruster part soft with the computer for realizing scheduled ship bow to control, location control or motion control
Part system, be provided on harbour or harbour with the control section by wireless signal connect for real-time monitoring ship by
Gradually in the laser orientation system of short distance, the present invention, to obtain more accurate vessel position range information when ship reaches port,
Laser orientation system sets gradually along ship stop direction in harbour or harbour multiple.
After controller sends the signal to automatic control unit of driving ship automatic shift, computer software passes through ratio
Compared with device continuously to the real-time data signals such as wind, wave, the stream for measuring fractional transmission and the accommodation coordinate for presetting anchor point
Parameter is comprehensively compared, after obtaining the vector external force or error amount that one acts on real-time change on ship, controller
Operation is constantly carried out according to vector external force and error amount, setting index, calculates automatically and generates the navigation for reaching setting place
Track, while main thruster and side propeller are issued and promote instruction, the vector for generating each propeller closes thrust with vector
The variation of external force and changing makes the thrust of ship and outer active force become the state of a balance, accurately presses desired trajectory low speed
It is mobile.
Specifically when reaching port, when ship drives into berthing region, accommodation coordinate parameters and the automatic control of anchor point are preset
The distance parameter of ship displacement starts manual control unit and manipulates ship to ship anchor point direction quick sailing, works as ship
When navigation is to close to harbour, measurement portion distribution send ship actual ship position signal to controller, while laser orientation system sends ship
Oceangoing ship moves closer to the signal of the actual parameter of harbour distance to controller, and controller is compared by signal, when actual ship position parameter
When reaching the distance parameter of preset automatic control ship displacement, sends and drive the signal of ship automatic shift to automatic control
Unit processed, while the signal for stopping manual manipulation being sent to manual control unit, the wind received in conjunction with measurement part, wave, stream are real
When information, enabling signal is sent to main thruster and/or side propeller, changes vessel position or bow in balanced action in ship
Under the premise of the perturbed force and disturbing moment of oceangoing ship, control ship automatic steady is stopped to presetting anchor point.Gyro compass acquisition
Controller is sent to after to ship bow to signal, computer software generates control by actual heading compared with setting course
Signal processed is output to propeller, acts propeller, and the deviation for keeping ship actual heading and setting between course is minimum, carries out
Heading control.
Above-mentioned technical proposal describes the control system and method for ship entry, and certainly, ship, equally can be with when leaving the port
According to final destination and course, the orientation to be driven out to is preset, ship is used first certainly according to preset orientation
The mode manually controlled after dynamic realizes that safety of ship leaves the port.
Certainly, the above description is not a limitation of the present invention, and the present invention is also not limited to the example above, the art
Those of ordinary skill, within the essential scope of the present invention, the variations, modifications, additions or substitutions made all should belong to the present invention
Protection scope.
Claims (6)
1. a kind of control system for assisting ship entering and leaving port using DP, including measurement part, control section, power section and thrust
Device part, thruster part include main thruster and side propeller, it is characterised in that: the measurement portion point includes one for acquiring
Ship bow is to the gyro compass of signal, and one for acquiring the anemoclinograph of ship local environment wind direction and wind velocity signal, and one for connecing
The Differential Global Positioning System of satellite positioning signal is received, the control section includes controller, and connect respectively with controller
For driving the manual control unit and automatic control unit of ship's navigation, and what is be connected respectively with controller be used to survey
Amount part acquisition information carry out handle and control instruction is exported to thruster part with realize scheduled ship bow to control,
Location control or the computer software of motion control are provided on harbour or harbour and pass through wirelessly with the control section
The laser orientation system that distance is moved closer to for real-time monitoring ship of signal connection, when ship drives into berthing region, in advance
It first sets the accommodation coordinate parameters of anchor point and automatically controls the distance parameter of ship displacement, start manual control unit and manipulate
Ship is to ship anchor point direction quick sailing, and when ship's navigation is to close to harbour, ship actual ship position is sent in measurement portion distribution
Signal to controller, while laser orientation system send ship move closer to harbour distance actual parameter signal to controlling
Device, controller are compared by signal, when actual ship position parameter reaches the distance parameter of preset automatic control ship displacement
When, the signal of driving ship automatic shift is sent to automatic control unit, while being sent and being stopped the signal of manual manipulation to manual
Control unit, the wind received in conjunction with measurement part, wave, stream real time information send starting letter to main thruster and/or side propeller
Number, change vessel position or bow under the premise of perturbed force and disturbing moment of the balanced action in ship, control ship is automatic
It is steady to stop to presetting anchor point.
2. the control system according to claim 1 for assisting ship entering and leaving port using DP, it is characterized in that: the laser positioning
System sets gradually along ship stop direction in harbour or harbour multiple.
3. the control system according to claim 1 for assisting ship entering and leaving port using DP, it is characterized in that: the controller is sent out
After the signal to automatic control unit for sending driving ship automatic shift, computer software is by comparator continuously to measurement
The real-time data signals such as wind, wave, the stream that fractional transmission comes are comprehensively compared with the accommodation coordinate parameters for presetting anchor point,
After obtaining the vector external force or error amount that one acts on real-time change on ship, controller is according to vector external force and error
Value, setting index constantly carry out operation, calculate automatically and generate the ship trajectory for reaching setting place, while to main thruster
And side propeller issues and promotes instruction, the vector for generating each propeller closes thrust with the variation of vector external force and changing makes ship
The thrust of oceangoing ship and outer active force become the state of a balance, and it is mobile accurately to press desired trajectory low speed.
4. the control system according to claim 1 for assisting ship entering and leaving port using DP, it is characterized in that: described manually control
Unit includes one for realizing the front and rear, left and right of ship and the manual joystick of instantaneous displacement, and manual joystick passes through displacement mould
Quasi- input unit is connect with controller signals, further includes one working as manual joystick for displacement signal input displacement simulation input unit
When send a signal to controller, controller sends automatic control mode switching module of the pause signal to automatic control unit, institute
MANUAL CONTROL mode switching module is stated to connect with controller signals.
5. the control system according to claim 1 for assisting ship entering and leaving port using DP, it is characterized in that: the automatic control
Unit includes moving parameter input module, and the moving parameter input module is connect with controller signals, further includes one when movement
Parameter sends a signal to controller when being input to parameter input module, controller sends the hand of pause signal to manual control unit
Dynamic control mode switch module, the MANUAL CONTROL mode switching module are connect with controller signals.
6. the control system according to claim 1 for assisting ship entering and leaving port using DP, it is characterized in that: the gyro compass is adopted
Collect ship bow and is generated compared with setting course to controller, computer software is sent to after signal by actual heading
Control signal is output to propeller, acts propeller, and the deviation for keeping ship actual heading and setting between course is minimum, into
Row Heading control.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910400280.8A CN110254648B (en) | 2019-05-13 | 2019-05-13 | Control system for assisting ship to enter and exit port by utilizing DP |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910400280.8A CN110254648B (en) | 2019-05-13 | 2019-05-13 | Control system for assisting ship to enter and exit port by utilizing DP |
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| CN110254648B CN110254648B (en) | 2020-12-15 |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110667785A (en) * | 2019-09-29 | 2020-01-10 | 宁波大桔科技有限公司 | Automatic berthing system of unmanned ship |
| TWI745996B (en) * | 2020-03-11 | 2021-11-11 | 美商包德瑞雷爾科技公司 | Systems, devices, and methods are provided for operating a watercraft vessel |
| US11194333B2 (en) | 2020-03-11 | 2021-12-07 | Boundary Layer Technologies Inc. | Lift from vessel formation |
| CN114466788A (en) * | 2019-10-07 | 2022-05-10 | 川崎重工业株式会社 | Ship steering support system |
| CN117246451A (en) * | 2023-09-12 | 2023-12-19 | 青岛无疆技术有限公司 | Anchor monitoring device for auxiliary monitoring and electronic anchor positioning method |
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| CN117246451A (en) * | 2023-09-12 | 2023-12-19 | 青岛无疆技术有限公司 | Anchor monitoring device for auxiliary monitoring and electronic anchor positioning method |
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