EP2360091B1 - Verfahren und System zur virtuellen dynamischen Verankerung eines Wasserfahrzeugs - Google Patents

Verfahren und System zur virtuellen dynamischen Verankerung eines Wasserfahrzeugs Download PDF

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Publication number
EP2360091B1
EP2360091B1 EP20110152914 EP11152914A EP2360091B1 EP 2360091 B1 EP2360091 B1 EP 2360091B1 EP 20110152914 EP20110152914 EP 20110152914 EP 11152914 A EP11152914 A EP 11152914A EP 2360091 B1 EP2360091 B1 EP 2360091B1
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EP
European Patent Office
Prior art keywords
virtual
watercraft
anchorage
point
depth
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Not-in-force
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EP20110152914
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English (en)
French (fr)
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EP2360091A1 (de
Inventor
Pietro Comerro
Luigi La Vecchia
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Individual
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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

Definitions

  • virtual dynamic anchoring is meant a system that enables a watercraft to be set and kept in a position without using a conventional physical anchor.
  • the document No. US2003/0191562 describes an anchorless positioning system, which sets and keeps a watercraft in a selected geographical position without the use of a conventional anchor.
  • the system of a known type uses a steerable motor, the thrust and direction of steering of which are determined and controlled on the basis of position signals received from GPS satellites.
  • the system continuously monitors the position and movement of the watercraft and compares them with the co-ordinates stored of a selected anchoring position for generating control signals for the steering motor.
  • a similar positioning system is also described in the document No. WO95/28682 .
  • the positioning systems according to the known art keep the watercraft in the proximity of a selected point. Consequently, a watercraft equipped with a anchorless positioning system according to the known art tends to remain stationary or to remain very close to the selected point.
  • the empirical rule for anchoring watercraft with an anchor of a conventional type envisages that the length of the chain of the anchor is approximately four times the depth. Given that the typical lengths of the chain are not more than one hundred metres, if the depth exceeds 50 m, an anchored mooring cannot be performed. Below said depth, instead, normally an anchored mooring is performed. Consequently, the watercraft moored with a conventional anchor are liable to move according to the direction of the wind on a circumference with centre in the anchorage point and with a radius given by the catenary that is formed between the bow of the boat and the anchor.
  • an anchorless positioning system involves a risk of collision in the case where a watercraft with anchorless positioning system is positioned in the proximity of watercraft moored with conventional anchors.
  • the watercraft with anchorless positioning system tends to remain stationary or very close to the selected point, the watercraft moored with conventional anchors are displaced by even considerable distances as the direction of the wind changes.
  • the movement of the watercraft moored with conventional anchors could bring said watercraft into a collision course with a watercraft that remains stationary as the direction of the wind changes.
  • the object of the present invention is to provide a method and a system for dynamic anchoring with a virtual anchor that will prevent the risk of the watercraft equipped with said anchoring system from coming into collision with watercraft moored with conventional anchors.
  • said object is achieved by a method and by a system for dynamic anchoring with a virtual anchor that present the characteristics forming the subject of the claims.
  • the method and the system according to the present invention provide an anchorless positioning that simulates with an excellent degree of precision the behaviour of a watercraft moored with a conventional anchor.
  • a watercraft equipped with a virtual dynamic anchoring system according to the present invention moves as the direction of the wind changes in a way altogether similar to a watercraft moored with a conventional anchor. This enables elimination of the risk of collision with which the anchorless positioning systems according to the known art are affected.
  • a system for dynamic anchoring with a virtual anchor is designated as a whole by 10.
  • the system 10 comprises an electronic control unit 12, which receives the signals coming from a set of detection apparatuses 14 that form part of the standard equipment of a watercraft.
  • the set of detection apparatuses 14 comprises:
  • the system 10 for dynamic anchoring with a virtual anchor further comprises a manoeuvring assembly 26, which also forms part of the standard equipment of the watercraft.
  • the manoeuvring assembly 26 comprises a bow propeller 28 and a stern propeller 30, or alternatively a stern propeller steerable through 360°, governed by respective electric motors supplied by a pack of batteries 32.
  • the pack of batteries 32 is associated to a battery-charger 34, which receives the electrical supply from a generator 36 or from a mains supply (socket available on the quay) 38.
  • the electronic control unit 12 can be associated to an alarm-warning device 40.
  • the electronic control unit 12 detects the depth P detected by means of the depth finder 18 and acquires the geographical position of the virtual-anchorage point A via the satellite position-detection device 16.
  • the electronic control unit 12 then computes a virtual length of chain L equal to four times the depth P, on the basis of the empirical rules used for mooring watercraft with conventional anchors. On the basis of the values of the depth P and of the virtual length of chain L, the electronic control unit 12 computes a virtual dynamic anchorage radius R.
  • the virtual anchorage radius R is obtained from the calculation of the catenary that, in the case of a physical anchor, would be formed between the anchor and the bow of the boat.
  • the calculation of the virtual length of chain L and of the virtual anchorage radius R is made only in the case where the depth P is less than 50 m. If the depth P is greater than 50 m, the electronic control unit 12 governs the manoeuvring assembly 26 so as to maintain the watercraft B in the proximity of the virtual-anchorage point A, in a way similar to the anchorless positioning devices according to the known art, maintaining in any case the bow in the direction of the wind for minimizing the pressure thereof on the watercraft.
  • the rules for mooring watercraft with conventional anchors envisage that anchoring of the watercraft is not performed when the depth is greater than 50 m.
  • the electronic control unit 12 governs the electric motors for operating the bow propeller 28 and the stern propeller 30 (or in the case of steerable stern motor only the latter) so as to position the watercraft B automatically in a mooring point S.
  • the mooring point S is situated at a distance from the virtual-anchorage point A equal to the virtual anchorage radius and is situated on a half-line having origin in the virtual-anchorage point A and oriented according to the direction of the wind W.
  • the virtual dynamic anchoring system 10 periodically detects the position of the watercraft B via the satellite position-detection device 16 and brings back the watercraft B into the mooring point S if the watercraft has moved away from the mooring point S.
  • the virtual anchoring system 10 periodically controls the direction of the wind W and corrects the position of the mooring point S as the direction of the wind changes. As is illustrated in Figure 3 , if the direction of the wind changes from W to W' the system corrects the position of the mooring point from S to S'. Consequently, the watercraft B moves as the direction of the wind changes in a way substantially identical to a watercraft moored with a conventional anchor.
  • the electronic control unit 12 is preferably programmed for orienting the watercraft B according to the direction of the wind W on the basis of the information supplied by the compass 22.
  • the system can be used with a function of anti-piracy alarm. During stay in open berth upon signalling of proximity of an object all the lights on board and possible additional lights can be automatically activated, as an action of deterrence.

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  • Chemical & Material Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
  • Lighting Device Outwards From Vehicle And Optical Signal (AREA)
  • Circuits Of Receivers In General (AREA)
  • Nitrogen Condensed Heterocyclic Rings (AREA)
  • Diaphragms For Electromechanical Transducers (AREA)

Claims (8)

  1. Verfahren zum dynamischen Verankern eines Wasserfahrzeugs mit einem virtuellen Anker,
    dadurch gekennzeichnet, dass
    das Verfahren die Schritte aufweist:
    - Bestimmen der Position eines virtuellen Ankerpunktes (A) des Wasserfahrzeugs (B);
    - Bestimmen eines virtuellen Ankerradius (R) als eine Funktion der Tiefe (P) an dem virtuellen Ankerpunkt (A);
    - Bestimmen der Windrichtung (W, W');
    - periodisches Definieren der geographischen Koordinaten eines Anlegestellenpunktes (S, S'), welcher auf einer Linie verortet ist, welche durch den virtuellen Ankerpunkt (A) verläuft und eine Richtung aufweist, welche mit der Windrichtung (W, W') übereinstimmt, wobei der Verankerungspunkt (S, S') in einem Abstand von dem virtuellen Ankerpunkt (A) verortet ist, welche gleich dem virtuellen Ankerradius (R) ist; und
    - Positionieren und Halten des Wasserfahrzeugs (B) in der Nähe des Verankerungspunkts (S, S').
  2. Verfahren gemäß Anspruch 1, weiterhin aufweisend den Schritt des Haltens des Wasserfahrzeugs (B) ausgerichtet zu der Windrichtung (W, W').
  3. Verfahren gemäß Anspruch 1, wobei der virtuelle Ankerradius (R) durch das Festlegen einer virtuellen Länge einer Ankerkette (L) bestimmt wird, wobei die virtuelle Länge der Ankerkette (L) der vierfachen Tiefe (P) entspricht.
  4. Verfahren gemäß Anspruch 3, wobei der Verankerungspunkt (S) mit dem virtuellen Ankerpunkt (A) zusammenfällt, wenn die Tiefe (P) größer ist als ein vorbestimmter Schwellwert.
  5. System zum Verankern eines Wasserfahrzeugs mit einem virtuellen Anker, wobei das Wasserfahrzeug (B) aufweist:
    - eine satellitengestützte Positionsbestimmungsvorrichtung (16);
    - einen Tiefenmesser (18);
    - eine Vorrichtung zum Messen der Windrichtung (20);
    - eine Bewegungsanordnung (26), aufweisend einen Heckpropeller (30) und einen Bugpropeller (28), welche von entsprechenden elektrischen Motoren gesteuert werden, oder eine einzelne Heckbewegungsanordnung, welche um 360° drehbar ist; und
    - eine elektronische Steuereinheit (12), welche für das virtuelle Verankern des Wasserfahrzeugs programmiert ist,
    dadurch gekennzeichnet, dass
    die elektronische Steuereinheit (12) programmiert ist zum:
    - Bestimmen der Position eines virtuellen Ankerpunktes (A) mit Hilfe der satellitengestützten Positionsbestimmungsvorrichtung (16);
    - Bestimmen eines virtuellen Ankerradius (R) als eine Funktion der Tiefe (P) an dem virtuellen Ankerpunkt (A);
    - periodisches Definieren eines Anlegestellenpunktes (S, S'), welcher auf einer Linie verortet ist, welche durch den virtuellen Ankerpunkt (A) verlaüft und eine Richtung aufweist, welche mit der Windrichtung (W, W') übereinstimmt, wobei der Verankerungspunkt (S, S') in einem Abstand von dem virtuellen Ankerpunkt (A) verortet ist, welche gleich dem virtuellen Ankerradius (R) ist; und
    - Steuern der elektrischen Motoren des Heckpropellers (30) und des Bugpropellers (28) oder der einzelnen Heckbewegungsanordnung, welche um 360° drehbar ist, zum Positionieren und Halten des Wasserfahrzeugs (B) in der Nähe des Verankerungspunkts (S, S').
  6. Virtuelles dynamisches Verankerungssystem gemäß Anspruch 5, wobei die elektronische Steuereinheit (12) darüber hinaus Signale empfängt, welche von einem elektronischen Kompass (22) kommen, und programmiert ist, die elektrischen Motoren des Heckpropellers (30) und des Bugpropellers (28) oder der einzelnen Heckbewegungsanordnung, welche um 360° drehbar ist, zum Halten des Wasserfahrzeugs (B) ausgerichtet zur Windrichtung (W, W').
  7. Virtuelles dynamisches Verankerungssystem gemäß Anspruch 5, wobei die elektronische Steuereinheit (12) darüber hinaus Signale empfängt, welche von Annäherungssensoren (24) kommen, und programmiert ist eine Alarmwarnungsvorrichtung (40) zu aktivieren, wenn die Annäherungssensoren (24) die Nähe des Wasserfahrzeugs (B) zu Hindernissen signalisieren.
  8. Virtuelles dynamisches Verankerungssystem gemäß Anspruch 7, wobei die elektronische Steuereinheit (12) programmiert ist, die Alarmwarnungsvorrichtung (40) zu aktivieren, wenn die Tiefe, welche mit Hilfe des Tiefenmessers (18) detektiert wird, geringer ist als ein vorbestimmter Sicherheitspegel.
EP20110152914 2010-02-10 2011-02-01 Verfahren und System zur virtuellen dynamischen Verankerung eines Wasserfahrzeugs Not-in-force EP2360091B1 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
ITTO2010A000092A IT1397987B1 (it) 2010-02-10 2010-02-10 Procedimento e sistema per l'ancoraggio dinamico virtuale di imbarcazioni

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Publication Number Publication Date
EP2360091A1 EP2360091A1 (de) 2011-08-24
EP2360091B1 true EP2360091B1 (de) 2012-11-21

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EP (1) EP2360091B1 (de)
IT (1) IT1397987B1 (de)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102019220494A1 (de) * 2019-12-20 2021-06-24 Mtu Friedrichshafen Gmbh Steuereinrichtung zur Steuerung eines Wasserfahrzeugs, Wasserfahrzeug mit einer solchen Steuereinrichtung, und Verfahren zum Steuern eines Wasserfahrzeugs

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3280311A (en) * 1962-07-27 1966-10-18 Shell Oil Co Ship positioning
FR1464568A (fr) * 1964-07-22 1967-01-06 Inst Francais Du Petrole Système de pilotage pour l'ancrage dynamique d'un navire
FR1557632A (de) * 1967-03-29 1969-02-21
FR2222269B1 (de) * 1973-03-21 1975-10-31 Automatisme Cie Gle
US5386368A (en) * 1993-12-13 1995-01-31 Johnson Fishing, Inc. Apparatus for maintaining a boat in a fixed position
US5491636A (en) * 1994-04-19 1996-02-13 Glen E. Robertson Anchorless boat positioning employing global positioning system
US6678589B2 (en) * 2002-04-08 2004-01-13 Glen E. Robertson Boat positioning and anchoring system
GB2417017A (en) * 2004-04-29 2006-02-15 Heerema Marine Contractors Nl A system for controlling the position/heading of work vessels

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102019220494A1 (de) * 2019-12-20 2021-06-24 Mtu Friedrichshafen Gmbh Steuereinrichtung zur Steuerung eines Wasserfahrzeugs, Wasserfahrzeug mit einer solchen Steuereinrichtung, und Verfahren zum Steuern eines Wasserfahrzeugs

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Publication number Publication date
ITTO20100092A1 (it) 2011-08-11
EP2360091A1 (de) 2011-08-24
IT1397987B1 (it) 2013-02-04

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