CN110427038A - A kind of full-automatic docking system of unmanned boat and method of docking - Google Patents
A kind of full-automatic docking system of unmanned boat and method of docking Download PDFInfo
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- CN110427038A CN110427038A CN201910805844.6A CN201910805844A CN110427038A CN 110427038 A CN110427038 A CN 110427038A CN 201910805844 A CN201910805844 A CN 201910805844A CN 110427038 A CN110427038 A CN 110427038A
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- 238000003032 molecular docking Methods 0.000 title claims abstract description 40
- 238000000034 method Methods 0.000 title claims abstract description 11
- 238000012544 monitoring process Methods 0.000 claims abstract description 29
- 238000004891 communication Methods 0.000 claims description 12
- 238000007405 data analysis Methods 0.000 claims description 9
- 238000012545 processing Methods 0.000 claims description 9
- 230000004308 accommodation Effects 0.000 claims description 6
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims description 2
- 238000005516 engineering process Methods 0.000 description 5
- 229910000831 Steel Inorganic materials 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B21/00—Tying-up; Shifting, towing, or pushing equipment; Anchoring
- B63B21/02—Magnetic mooring equipment
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B15/00—Systems controlled by a computer
- G05B15/02—Systems controlled by a computer electric
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/0206—Control of position or course in two dimensions specially adapted to water vehicles
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0875—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted to water vehicles
-
- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
-
- 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
- B63B2035/006—Unmanned surface vessels, e.g. remotely controlled
- B63B2035/007—Unmanned surface vessels, e.g. remotely controlled autonomously operating
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- General Physics & Mathematics (AREA)
- Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Ocean & Marine Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses a kind of full-automatic docking system of unmanned boat and method of docking, docking system includes measuring system, automatic control system, berthing execution system, berthing executive device and remote monitoring system；The measuring system is for the monitoring to the position of ship, dynamic and ambient enviroment；The automatic control system obtains the ship's speed and angle needed for ship is stopped to measuring system acquisition generating date, and control berthing actuator devices realize the automatic berthing of ship；It includes that ship power system and berthing execute system that the berthing, which executes system,；The berthing executive device includes Ship Power Equipment and berthing device.The remote monitoring system remotely can be monitored and control to ship in bank base work station.The present invention is accurately positioned ship and berth by GPS, radar system, improves the accuracy of ship berthing position, and carries out real-time monitoring and control to the environment around ship and berthing in real time.
Description
Technical field
The present invention relates to unmanned ship automatic control technology field, particularly relate to the full-automatic docking system of unmanned boat and
Method of docking.
Background technique
Ship berthing harbour increases personnel cost using cable car interoperation on traditional tugboat and ship now, and
Efficiency is lower, it is also possible to it causes damages because of human error, poor safety performance.Intelligence is always becoming for ship development
Gesture, in recent years, as the new concepts such as Internet of Things, big data, cloud computing, artificial intelligence, new technology are advanced by leaps and bounds, ship is automatic
Change horizontal continuous improvement, the realization of unmanned ships and light boats has science and technology support, unmanned ship's navigation is also made to have realization in the whole world
A possibility that.
Summary of the invention
To overcome the shortcomings of existing technologies, the present invention provides a kind of full-automatic docking system of unmanned boat and method of docking, In
Under the premise of meeting unmanned navigation transport, data, enhance the flexibility and reliability of unmanned boat berthing, make in combination with Internet of Things technology
Its growth requirement for being more suitable for the following unmanned boat water transport.
In order to achieve the above object, the invention adopts the following technical scheme:
The full-automatic docking system of a kind of unmanned boat provided by the invention, including measuring system, automatic control system, berthing are held
Row system, berthing executive device and remote monitoring system, the measuring system, berthing execute system and remote monitoring system is equal
It being connect with automatic control system, the berthing executive device executes system with berthing and connect,
The measuring system, for acquiring position and the dynamic data of ship, and being monitored to the environment of surrounding；
The automatic control system, the data for acquiring to measuring system are handled in real time, are obtained ship and are stopped institute
The ship's speed and angle needed, control signal to the berthing for sending ship berthing execute the automatic berthing that system realizes ship；
The berthing executes system, for receiving and processing the control signal for sending ship berthing, and controls berthing execution
Device executes berthing movement；
The berthing executive device, the control signal for executing the ship berthing of system for receiving berthing, controls ship
Pool；
The remote monitoring system, for control to be monitored and selected to ship in bank base work station long-distance radio communication
System, and communicated using wireless communication mode with automatic control system；
The automatic control system includes computer, data processing module, data analysis module, berthing control module and remote
Journey wireless communication module；
The data processing module, for handling the data that measuring system acquires；
The data analysis module analyzes treated data, according to two distance measuring sensors of bow stern and GPS
The information of positioning obtains ship and berth distance, calculate hull between the angle and accommodation and berth in berth at a distance from, and provide
Ship's speed needed for ship berthing and angle, wherein ship's speed is set step by step in systems according to the distance between accommodation and berth；
The berthing control module, the ship's speed and angle provided according to data analysis module, control boat-carrying executing agency dress
Set the automatic berthing to realize ship；
The long-distance radio communication module is wirelessly connected, for the data to automatic control system with remote monitoring system
Data interconnection is realized with bank base work station, so that bank base workbench be made to monitor Ship dynamic situation in real time；
The remote monitoring system is configured as bank base work station, and the berthing situation of ship is monitored by bank base work station.
As a preferred technical solution, the measuring system include GPS, radar, ship range unit, anerovane and
Video camera, the GPS, radar, ship range unit, anerovane, video camera are arranged on hull.
Front-rear position, quantity are two or two on the quarter for the ship range unit installation as a preferred technical solution,
More than a.
The ship's speed is set according to different ship type sizes according to " port engineering loading specification " as a preferred technical solution,
It is fixed.
As a preferred technical solution, when ship control is after minimum Berthing Speed, the berthing control module according to
Related vessel position information is obtained by measuring system, and acquisition side pushes away, steering engine information, and hull is adjusted to most preferably to lean on berth
It sets.
It includes ship power system and docking system that the berthing, which executes system, as a preferred technical solution,；
The ship power system, for controlling speed of the ship in metres per second, hull at a distance from berth and the degree of balance, the ship is dynamic
Force system obtains related vessel position information by measuring system, goes control ship's speed and side to push away, steering engine, hull is adjusted to
Best berthing position；
The docking system, it is described to lean on after hull is adjusted to best berthing position for controlling the execution of berthing device
Pool system is issued to berthing device and is instructed, and is controlled three berthing arm stretching, extensions, and control magnetic suction disc, is adsorbed on berth.
The berthing executive device includes Ship Power Equipment and berthing device as a preferred technical solution,；The ship
Oceangoing ship power device includes that the side that configures of ship itself pushes away and steering engine；The berthing device includes berthing arm and magnetic suction disc, described
Magnetic suction disc generates magnetic force for being powered, and is magnetically attracted on hull berth, realizes hull berthing by berthing arm and magnetic suction disc.
The berthing arm includes stem berthing arm, ship midship berthing arm and ship stern berthing arm, institute as a preferred technical solution,
Stating magnetic suction disc includes stem berthing magnetic suction disc, and ship midship berthing magnetic suction disc and ship stern berthing magnetic suction disc, the stem lean on
Pool arm is corresponding with stem berthing magnetic suction disc, and the ship midship berthing arm is corresponding with ship midship berthing magnetic suction disc, ship stern berthing
Arm is corresponding with ship stern berthing magnetic suction disc, and the berthing of hull is realized by berthing arm and magnetic suction disc.
The present invention also provides a kind of method of docking of the full-automatic docking system of unmanned boat, it is described that specific step is as follows:
Using GPS positioning and radar surveying ship and the distance to go wait lean on berth, make ship according to distance according to setting
Speed parameter gradually slow down to berthing target navigate by water；
After reaching berthing effective distance, automatic control system starts berthing executive device, controls Ship Power Equipment, and lead to
The more than two distance measuring sensors for crossing ship side, keep ship bow stern parallel with berth；
Starting berthing and executes system, automatic control system passes through distance measuring sensor real-time monitoring ship at a distance from berth,
And speed of the ship in metres per second and angle are obtained by wind direction and wind velocity degree generating date, starting ship power system and docking system makes ship
Oceangoing ship is drawn close to berth, is adsorbed on the magnetic suction disc of berthing device on berth；
Automatic system is controlled by being wirelessly transmitted to remote monitoring and controlling system, in bank base work station real-time monitoring ship
Pool dynamic, and select long-range control ship.
Compared with the prior art, the invention has the following advantages and beneficial effects:
(1) it present invention employs a kind of automatic method of docking, solves the technical issues of berthing automatic now with ship, reaches
The effect of the pilotless autonomous driving of ship is arrived, in addition the present invention carries out ship and berth by GPS, radar system accurate
Positioning, improves the accuracy of the position of ship berthing.
(2) present invention before and after ship topside dress there are two range unit, can by each position of ship and berth away from
From being fed back in real time to autonomous control subsystem, to control the automatic berthing that executing agency completes ship；
(3) system function of unmanned boat is truly realized in the entirely autonomous automatic control of the present invention.
(4) present invention can be monitored remotely, in real time to the environment progress real-time monitoring and control around ship and berthing.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the full-automatic docking system of unmanned boat of the present invention；
Fig. 2 is the flow chart of the full-automatic method of docking of unmanned boat of the present invention.
Wherein, drawing reference numeral is described as follows described:
1, hull, 2, hull berth, 3-1, stem berthing arm, 3-2 ship midship berthing arm, 3-3, ship stern berthing arm, 4-1, ship
Bow berthing magnetic suction disc, 4-2, ship midship berthing magnetic suction disc, 4-3, ship stern berthing magnetic suction disc, 5-1, stem range unit, 5-
2, stem range unit, 6, automatic control system, 7, anerovane, 8, GPS, 9, radar cell, 10-1, stem video camera,
10-2, ship midship video camera, 10-3, ship stern video camera.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
As shown in Figure 1, the full-automatic docking system of unmanned boat in the present embodiment includes: measuring system, automatically controls system
System, berthing execute system, berthing executive device and remote monitoring system；The measuring system, automatic control system 6, berthing are held
Row system, berthing executive device and remote monitoring system are arranged on hull 1, and opposite with hull 1 is hull berth 2, institute
Stating hull berth can be port berth or other steel ships, ocean platform.
The measuring system includes GPS 8, radar 9, ship range unit, anerovane 7, video camera, for acquiring
The monitoring of the position of ship and dynamic data and the environment to surrounding；The ship range unit is 2, respectively stem ranging
Device 5-1 and stem range unit 5-2；The video camera is 3, is stem video camera 10-1, ship midship video camera 10-2 and ship
Stern video camera 10-3 is respectively used to the berthing situation of shooting stem, ship midship and ship stern.
The automatic control system 6 obtains ship and stops institute for being handled in real time the data that measuring system acquires
The ship's speed and angle needed, control signal to the berthing for sending ship berthing execute the automatic berthing that system realizes ship.
The automatic control system includes computer, data processing module, data analysis module, berthing control module and remote
Journey wireless communication module.
The data processing module respectively to GPS positioning, radar cell, distance measuring sensor, wind direction and wind velocity, video camera number
According to being handled.
The data analysis module analyzes treated data, according to two distance measuring sensors of bow stern and GPS
The information of positioning obtains ship and berth distance, calculate hull between the angle and accommodation and berth in berth at a distance from, and provide
Ship's speed needed for ship berthing and angle, wherein ship's speed is set step by step in systems according to the distance between accommodation and berth, speed
Angle value is set according to different ship type sizes according to " port engineering loading specification ".
The berthing control module, the ship's speed and angle provided according to data analysis module, control boat-carrying executing agency dress
The automatic berthing to realize ship is set, after minimum Berthing Speed, control module obtains ship control according to by measuring system
It takes related vessel position information and side to push away, steering engine, hull is adjusted to best berthing position.
The long-distance radio communication module realizes data interconnection, bank base to the data and bank base work station of automatic control system
Workbench can monitor Ship dynamic situation in real time.
It includes ship power system and docking system that the berthing, which executes system, for receiving and processing transmission ship
The control signal of pool, control berthing executive device movement.
The ship power system, for controlling speed of the ship in metres per second, hull at a distance from berth and the degree of balance, the ship is dynamic
Force system obtains related vessel position information by measuring system, goes control ship's speed and side to push away, steering engine, hull is adjusted to
Best berthing position.
The docking system, it is described to lean on after hull is adjusted to best berthing position for controlling the execution of berthing device
Pool system is issued to berthing device and is instructed, and is controlled three berthing arm stretching, extensions, and control magnetic suction disc, is adsorbed on berth.
The berthing executive device includes Ship Power Equipment and berthing device, and Ship Power Equipment includes that ship itself is matched
The side set pushes away and steering engine, berthing device includes berthing arm and magnetic suction disc, and the ship berthing of system is executed for receiving berthing
Signal is controlled, ship berthing is controlled；The berthing arm includes stem berthing arm 3-1, ship midship berthing arm 3-2 and ship stern berthing arm 3-
3, the magnetic suction disc includes stem berthing magnetic suction disc 4-1, ship midship berthing magnetic suction disc 4-2 and ship stern berthing magnetic suction disc 4-
3, the stem berthing arm 3-1 is corresponding with stem berthing magnetic suction disc 4-1, the ship midship berthing arm 3-2 and ship midship berthing magnetic
Power sucker 4-2 is corresponding, and ship stern berthing arm 3-3 is corresponding with ship stern berthing magnetic suction disc 4-3, passes through berthing arm and magnetic suction disc
Realize the berthing of hull 1.
The remote monitoring system includes microcomputer, bank base work station, is used in bank base work station long-distance radio communication to ship
Oceangoing ship is monitored and selects control, and is communicated using wireless communication mode with automatic control system.
Measuring system, berthing execution system and the remote monitoring system is connect with the automatic control module.
As shown in Fig. 2, the method for docking of the full-automatic docking system of the unmanned boat of the present embodiment, passes through measuring system and wind direction
Wind velocity obtains real-time on-site data measured, and these data informations are transferred to computer in time, and computer is again by itself and storage
The predetermined parking place data control deposited, finds out difference, then issues and instruct to power device, adjust its thrust, carry out difference
Amendment starts docking system until reaching predetermined position, and it is described that specific step is as follows:
S1, ship and the distance to go wait lean on berth are measured using GPS positioning and radar cell, makes ship to berthing target
Navigation；
After S2, arrival berthing effective distance, automatic control system starts berthing executive device, controls Ship Power Equipment,
And pass through more than two distance measuring sensors of ship side, keep ship bow stern parallel with berth；
S3, starting berthing execute system, automatic control system by distance measuring sensor real-time monitoring ship and berth away from
From, and speed of the ship in metres per second and angle are obtained by wind direction and wind velocity degree generating date, start ship power system and docking system
It draws close ship to berth, is adsorbed on the magnetic suction disc of berthing device on berth；
S4, automatic system control, can be in bank base work station real-time monitorings by being wirelessly transmitted to remote monitoring and controlling system
Ship berthing dynamic, and can choose long-range control.
The above embodiment is a preferred embodiment of the present invention, but embodiments of the present invention are not by above-described embodiment
Limitation, other any changes, modifications, substitutions, combinations, simplifications made without departing from the spirit and principles of the present invention,
It should be equivalent substitute mode, be included within the scope of the present invention.
Claims (9)
1. a kind of full-automatic docking system of unmanned boat, which is characterized in that executed including measuring system, automatic control system, berthing
System, berthing executive device and remote monitoring system, the measuring system, berthing execute system and remote monitoring system with
Automatic control system connection, the berthing executive device execute system with berthing and connect,
The measuring system, for acquiring position and the dynamic data of ship, and being monitored to the environment of surrounding；
The automatic control system, the data for acquiring to measuring system are handled in real time, are obtained needed for ship is stopped
Ship's speed and angle, control signal to the berthing for sending ship berthing execute the automatic berthing that system realizes ship；
The berthing executes system, for receiving and processing the control signal for sending ship berthing, and controls berthing executive device
Execute berthing movement；
The berthing executive device, the control signal for executing the ship berthing of system for receiving berthing, controls ship berthing；
The remote monitoring system, for control to be monitored and selected to ship in bank base work station long-distance radio communication, and
It is communicated using wireless communication mode with automatic control system；
The automatic control system includes computer, data processing module, data analysis module, berthing control module and long-range nothing
Line communication module；
The data processing module, for handling the data that measuring system acquires；
The data analysis module analyzes treated data, according to two distance measuring sensors of bow stern and GPS positioning
Information obtain ship and berth distance, calculate hull between the angle and accommodation and berth in berth at a distance from, and provide ship
Ship's speed needed for berthing and angle, wherein ship's speed is set step by step in systems according to the distance between accommodation and berth；
The berthing control module, the ship's speed and angle provided according to data analysis module, control boat-carrying actuator devices with
Realize the automatic berthing of ship；
The long-distance radio communication module is wirelessly connected, for the data and bank to automatic control system with remote monitoring system
Base work station realizes data interconnection, so that bank base workbench be made to monitor Ship dynamic situation in real time；
The remote monitoring system is configured as bank base work station, and the berthing situation of ship is monitored by bank base work station.
2. the full-automatic docking system of unmanned boat according to claim 1, which is characterized in that the measuring system include GPS,
The GPS, radar, ship range unit, anerovane and video camera radar, ship range unit, anerovane, are taken the photograph
Camera is arranged on hull.
3. the full-automatic docking system of unmanned boat according to claim 1, which is characterized in that the ship range unit installation
Front-rear position on the quarter, quantity are two or more.
4. the full-automatic docking system of unmanned boat according to claim 1, which is characterized in that the ship's speed is according to different ship types
Size is set according to " port engineering loading specification ".
5. the full-automatic docking system of unmanned boat according to claim 1, which is characterized in that when ship control is leaned in minimum
After mooring speed, the berthing control module obtains related vessel position information according to by measuring system, and acquisition side pushes away, rudder
Hull is adjusted to best berthing position by machine information.
6. the full-automatic docking system of unmanned boat according to claim 1, which is characterized in that the berthing executes system and includes
Ship power system and docking system；
The ship power system, for controlling speed of the ship in metres per second, hull at a distance from berth and the degree of balance, the ship power system
System obtains related vessel position information by measuring system, goes control ship's speed and side to push away, steering engine, hull is adjusted to best
Berthing position；
The docking system, for controlling the execution of berthing device, after hull is adjusted to best berthing position, the berthing system
It unites to issue to berthing device and instruct, control berthing arm stretching, extension, and magnetic suction disc is controlled, it is adsorbed on berth.
7. the full-automatic docking system of unmanned boat according to claim 1, which is characterized in that the berthing executive device includes
Ship Power Equipment and berthing device；The Ship Power Equipment includes that the side that configures of ship itself pushes away and steering engine；The berthing
Device includes berthing arm and magnetic suction disc, and the magnetic suction disc generates magnetic force for being powered, and is magnetically attracted on hull berth, is passed through
Berthing arm and magnetic suction disc realize hull berthing.
8. the full-automatic docking system of unmanned boat according to claim 7, which is characterized in that the berthing arm includes that stem leans on
Mooring arm, ship midship berthing arm and ship stern berthing arm, the magnetic suction disc includes stem berthing magnetic suction disc, ship midship berthing magnetic suction disc
With ship stern berthing magnetic suction disc, the stem berthing arm is corresponding with stem berthing magnetic suction disc, the ship midship berthing arm and ship
Midship berthing magnetic suction disc is corresponding, and ship stern berthing arm is corresponding with ship stern berthing magnetic suction disc, passes through berthing arm and magnetic suction disc
Realize the berthing of hull.
9. a kind of method of docking of the full-automatic docking system of unmanned boat described in any one of -8 according to claim 1, special
Sign is that it is described that specific step is as follows:
Using GPS positioning and radar surveying ship and the distance to go wait lean on berth, make speed of the ship according to distance according to setting
Degree parameter is gradually slowed down navigates by water to berthing target；
After reaching berthing effective distance, automatic control system starts berthing executive device, controls Ship Power Equipment, and pass through ship
More than two distance measuring sensors of the side of a ship, keep ship bow stern parallel with berth；
Start berthing and execute system, automatic control system passes through distance measuring sensor real-time monitoring ship at a distance from berth, and leads to
Cross wind direction and wind velocity degree generating date and obtain speed of the ship in metres per second and angle, start ship power system and docking system make ship to
Berth is drawn close, and is adsorbed on the magnetic suction disc of berthing device on berth；
Automatic system is controlled by being wirelessly transmitted to remote monitoring and controlling system, dynamic in bank base work station real-time monitoring ship berthing
State, and select long-range control ship.
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Cited By (10)
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| CN111071399A (en) * | 2019-12-30 | 2020-04-28 | 武汉理工大学 | Intelligent barge system |
| CN111220985A (en) * | 2020-02-25 | 2020-06-02 | 智慧航海（青岛）科技有限公司 | Auxiliary system for berthing |
| CN112224080A (en) * | 2020-09-18 | 2021-01-15 | 武汉理工大学 | Unmanned ship auxiliary berthing and charging method, device and system |
| CN112698312A (en) * | 2020-12-08 | 2021-04-23 | 浙江理工大学 | Port ranging device based on resampling non-linear frequency modulation continuous wave |
| CN113009909A (en) * | 2021-02-03 | 2021-06-22 | 武汉理工大学 | Ship-shore cooperative single-ship autonomous mooring system and control method thereof |
| CN113086089A (en) * | 2021-05-07 | 2021-07-09 | 佛山市南海珠峰造船有限公司 | Magnetic mooring device and boat |
| CN113189869A (en) * | 2021-04-06 | 2021-07-30 | 集美大学 | Control method for berthing speed of ship |
| CN114089750A (en) * | 2021-11-10 | 2022-02-25 | 江苏科技大学 | Semi-physical unmanned ship berthing system based on artificial potential field method and evaluation method |
| CN114604359A (en) * | 2022-04-18 | 2022-06-10 | 山东交通学院 | Automatic ship berthing system and method based on visual identification |
| CN114735135A (en) * | 2022-05-04 | 2022-07-12 | 安徽工程大学 | Ship berthing method, berthing device and verification method based on permanent magnet |
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