KR20230032445A - Docking guide system of vessel for floating structure - Google Patents

Abstract

The present invention relates to a berthing maintenance system capable of stably maintaining a berthing point without being affected by water surface fluctuations when a ship is berthed at a floating structure (e.g., offshore wind power generator) floating on the sea. Accordingly, the present invention can significantly reduce a working time and protect workers from accidents. The present invention includes a gangway; a detection sensor; and a berthing maintenance control part.

Description

Docking maintenance system of ships for offshore floating structures {DOCKING GUIDE SYSTEM OF VESSEL FOR FLOATING STRUCTURE}

The present invention is installed on the bow side of the ship, and a detection sensor for calculating the location information of the floating structure located in front of the ship, the moving direction and the moving speed as movement values, and the ship and the floating structure by waves and swells. It relates to a berthing maintenance system of a ship for an offshore floating structure, characterized in that it comprises a; berthing control unit that controls the driving unit when agitation occurs in the structure so that the berthing platform provided on the ship can intellectually maintain the berthing point. .

In order to operate and maintain an offshore structure such as an offshore wind power generator, an operator or maintenance person must access the structure through a ship.

At this time, the existing access structure for accessing the offshore structure through the ship consists of a ship berth and a ladder for climbing to the platform, so that the ship approaches the berth of the cylinder and climbs up the fixed ladder to the platform.

However, since fluctuations in the surface of the water are caused by waves and swells, it is not easy to climb on a fixed ladder in a boat that rises and falls according to the fluctuations in the surface of the water, and there is a considerable risk, and there is a risk of accidents when the wave height is high.

Therefore, in order to climb onto the platform of the offshore structure using the existing access structure, the number of accessible days is inevitably very limited because the sea level is very calm and you have to wait for clear weather.

Thus, various prior arts have been disclosed that enable ships to continuously maintain the berthing point in the berthing structure.

However, prior art related to berthing maintenance of maintenance ships disclosed in the prior art allows maintenance ships to stably maintain a berthing state in structures fixed on the sea, and there is no berthing maintenance system applicable to floating structures. am.

For example, structures for installing offshore wind power generation devices on the sea can be largely divided into fixed and floating structures. In the case of fixed structures, when the water depth is deep, the structure becomes large and it is difficult to avoid the risk of fatigue failure, and the size of the facility In accordance with the trend, there is a problem that the cost of manufacturing and installation of the structure increases astronomically, and recently, a wind power generator of a floating structure has been widely spread.

If the wave height is high and irregular when the maintenance vessel berths to the wind power generator of this floating structure, if the floating structure rolls, pitches, or rolls back and forth, it may be difficult to keep the maintenance vessel berthed, Depending on the strength of the agitation, there is a risk of worker safety accidents.

Therefore, there is a demand for a berthing maintenance system capable of stably maintaining a berthing state in a floating structure for a maintenance vessel.

Republic of Korea Patent Registration No. 10-1029771 (berthing facility for offshore wind power generation device) Republic of Korea Patent Registration No. 10-2003049 (shake-damping type eyepiece)

The present invention was invented to solve the above problems, and when a ship docks with a floating structure (for example, an offshore wind power generator) floating on the sea, it is not affected by surface fluctuations caused by waves and swells. An object of the present invention is to provide a berthing maintenance system for a ship for an offshore floating structure that can stably maintain a berthing point so that a worker can stably move to a structure.

For the above purpose, the present invention provides a fixed plate fixed to the bow deck, a base platform disposed on top of the fixed plate, and a berthing hinged to one side edge of the base platform and berthed to the offshore structure A gangway including a platform and a passage platform coupled to the edge of the other side of the base platform and guiding workers in the ship to move toward the docking platform; A roll cylinder that attenuates the roll generated by rotating the gangway in the reverse direction relative to the X-axis when rolling motion occurs due to waves and swells, and the eyepiece when pitching caused by waves and swells occurs A pitch cylinder that attenuates the pitch cylinder generated by rotating the platform in the reverse direction on the Y-axis, and the back and forth generated by rotating the gangway in the reverse direction on the Z-axis when surfing occurs due to waves and swells. A ship including a drive unit including a surge cylinder for damping sway, and a motion reference unit (MRU) sensor coupled to one side of the gangway to detect the sway of the ship due to waves and swells and measure the amount of sway In the berthing maintenance system of the vessel, it is installed on the bow side of the vessel, and a detection sensor for calculating the location information, moving direction and moving speed of the floating structure located in front of the vessel as a motion value; The required amount of the operating stroke of at least one or more cylinders of the roll cylinder, pitch cylinder, or surge cylinder calculated based on the amount of shaking of the ship measured through the MRU sensor A berth maintenance control unit for controlling the driving unit according to the result value calculated by reflecting the motion value of the floating structure measured from the detection sensor as a reference so that the berthing platform can continuously maintain the berthing point with respect to the floating structure; It is characterized in that it includes.

In addition, in the present invention, the detection sensor measures the arrival time of the laser pulse reflected from the floating structure after scanning the laser pulse toward the floating structure in front to determine the location information, moving direction and moving speed of the floating structure. Characterized in that it is a LiDAR sensor that calculates.

In addition, the present invention is characterized in that it comprises an alarm unit for outputting an alarm signal when the forward floating structure enters within a preset effective distance, and a display unit for displaying the distance between the ship and the floating structure.

In addition, the present invention is a fixed plate fixed to the bow deck, a base platform disposed on top of the fixed plate, a berthing platform hinged to one side edge of the base platform and docked with the offshore structure, the A gangway coupled to the edge of the other side of the base platform and including a passage platform for guiding workers in the ship to move toward the berth platform; When roll occurs due to waves and swells, the gangway is rotated in the reverse direction based on the X-axis to damp the roll cylinder generated, and when pitching occurs due to waves and swells, the berth A pitch cylinder that attenuates the pitch cylinder generated by rotating the platform in the reverse direction on the Y-axis, and the back and forth generated by rotating the gangway in the reverse direction on the Z-axis when surfing occurs due to waves and swells. A ship including a drive unit including a surge cylinder for damping sway, and a motion reference unit (MRU) sensor coupled to one side of the gangway to detect the sway of the ship due to waves and swells and measure the amount of sway In the berthing maintenance method, the positional information of the floating structure in front and the moving direction and moving speed of the floating structure are detected as motion values from a detection sensor installed on the bow of the ship, when agitation occurs due to waves and swells. The first step to be; A second step of transmitting the motion value of the floating structure measured by the detection sensor to the berthing control unit; A third step of transmitting the shaking motion of the ship detected by the MRU sensor to the berth maintenance control unit; a fourth step of calculating a required amount of operating stroke of at least one or more cylinders among the roll cylinder, the pitch cylinder, and the surge cylinder with respect to the swing amount; and a fifth step of controlling the drive unit according to a result value calculated by combining the required amount of the operating stroke and the movement value of the floating structure.

The present invention made as described above is not affected by water surface fluctuations due to waves and swells when a ship docks with a floating structure (for example, an offshore wind power generator) floating on the sea, and maintains the berthing point stably, so that the operator can be stably moved to the structure.

In particular, the present invention continuously receives the amount of motion acting on the ship from the MRU sensor even when the ship is docked on the floating structure, and calculates the operating stroke demand of the cylinder corresponding to the motion during roll, pitch, or back and forth motion. While calculating, by receiving and reflecting the motion value for the floating structure from the detection sensor and controlling the drive unit, the berthing platform can continuously maintain the berthing point with respect to the floating structure, thereby protecting workers from safety accidents. .

In addition, the present invention includes an alarm unit outputting a corresponding signal in the form of sound or light when the floating structure enters within a preset effective distance from the front of the ship, and a display unit displaying the distance between the ship and the floating structure. In this way, the sailors in the ship can easily recognize the fact so that follow-up work can be done quickly.

1 and 2 is a schematic illustration for explaining a berthing maintenance system for berthing a maintenance vessel to a structure fixed to the sea according to the prior art.
Figures 3a) and 3b) is a schematic illustration for explaining a berth maintenance system of a ship for offshore floating structures according to the present invention.
4 is 3D point cloud data of a floating structure detected from a lidar sensor according to an embodiment of the present invention.
5 is a control algorithm of a berth maintenance system of a ship for offshore floating structures according to a preferred embodiment of the present invention.

In describing the present invention, the advantages and features of the present invention, and methods for achieving them will become clear with reference to the embodiments described below in detail in conjunction with the accompanying drawings. However, the present invention is not limited to the embodiments described herein and may be embodied in other forms. Rather, the embodiments introduced herein are provided so that the disclosed content will be thorough and complete and the spirit of the present invention will be sufficiently conveyed to those skilled in the art. In the drawings, the thickness of layers and regions is exaggerated for clarity.

Terms such as first and second may be used to describe various components, but the components are not limited by the terms. These terms are only used for the purpose of distinguishing one component from another. For example, a first element could be termed a second element, and, similarly, a second element could be termed a first element, without departing from the scope of the present invention.

Terms such as top, bottom, top, bottom, or top, bottom are used to distinguish the relative positions of components. For example, in the case of naming the upper part in the drawing as the upper part and the lower part in the drawing as the lower part for convenience, in practice, the upper part may be named as the lower part and the lower part may be named as the upper part without departing from the scope of the present invention. .

Terms used in this application are only used to describe specific embodiments, and are not intended to limit the present invention. Singular expressions include plural expressions unless the context clearly dictates otherwise. In this application, the terms "include" or "have" are intended to designate that there is a feature, number, step, operation, component, part, or combination thereof described in the specification, but one or more other features It should be understood that it does not preclude the possibility of the presence or addition of numbers, steps, operations, components, parts, or combinations thereof.

Unless defined otherwise, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which the present invention belongs. Terms such as those defined in commonly used dictionaries should be interpreted as having meanings consistent with the meanings in the context of the related art, and unless explicitly defined in this application, they should not be interpreted in ideal or excessively formal meanings. don't

Hereinafter, with reference to the accompanying drawings to be described in more detail with respect to the berth maintenance system of the ship for offshore floating structures according to the present invention.

In the present invention, the berthing maintenance system can safely dock a ship at the berthing point of the structure for maintenance and repair of structures installed on the sea, such as offshore wind power generators, and maintains the berthing state stably and continuously, so that the operator It refers to a system that allows the safe movement of

First, as an example of a conventional berthing maintenance system for a ship, Korean Registered Patent Publication No. 10-2137150, "A berthing maintenance system for a ship for offshore structures" disclosed by the present applicant is disclosed.

As shown in FIGS. 1 and 2, the berthing maintenance system includes a fixed plate 10 fixed to the bow deck of the ship, a gangway 20 disposed above the fixed plate, and when shaking due to waves and swells. A driving unit 30 for damping the sway acting on the gangway, a Motion Reference Unit (MRU) sensor mounted on the gangway and detecting and measuring the amount of sway due to waves and swells, and the MRU sensor. A main control unit 40 that compares the measured value with a preset value and controls the driving unit so that the berthing platform can continuously maintain the berthing point when fluctuations in waves and swells occur.

Here, the gangway 20 is hinged to a base platform 21 disposed on the upper portion of the fixing plate 10 and an edge of one side of the base platform and docked with the offshore structure. A docking platform 22 And, a passage platform 23 coupled to the edge of the other side of the base platform and guiding the operator in the ship to move toward the berthing platform, and the drive unit 30 is the gangway when rolls caused by waves and swells occur A roll cylinder (31) for damping the roll cylinder 31 that attenuates the roll caused by rotating in the reverse direction about the X axis, and the roll cylinder 31 generated by rotating the berth platform in the reverse direction about the Y axis when the pitch is caused by waves and swells Includes a PITCH cylinder 32 for damping and a surge cylinder 33 for damping the back and forth motion generated by rotating the gangway in the reverse direction relative to the Z axis when back and forth fluctuations due to waves and swells occur. do.

In the berthing maintenance system, when agitation caused by waves and swells occurs in a state in which a ship is docked at a marine structure, the main control unit compares the value measured through the MRU sensor with a preset value and controls the driving unit to control the water surface fluctuation. It is possible to make the docking platform continuously maintain the docking point without being affected by

By the way, the conventionally disclosed berthing maintenance system including the berthing maintenance system is a system applicable to a fixed structure that is fixedly installed on the sea, assuming that a ship docks with a floating structure such as a wind power generator of a floating structure. However, when the wave height is high and occurs irregularly, if the floating structure rolls, pitches, or rolls back and forth, it may be difficult to keep the ship berthed, and depending on the intensity of the shaking, there are concerns about safety accidents for workers.

The present invention was invented to solve the problems of the conventional berthing maintenance system as described above. Its technical feature is that the berthing platform of Way continuously maintains the berthing point from the floating structure so that the operator can safely access and work on the offshore structure.

Figures 3a) and 3b) is a schematic illustration for explaining a berth maintenance system of a ship for offshore floating structures according to the present invention.

As shown in FIGS. 3a) and 3b), the present invention provides the fixing plate 10, the gangway 20 disposed above the fixing plate, and attenuating the agitation acting on the gangway when agitation caused by waves and swells occurs. In the berthing holding system including a driving unit 30 and an MRU (Motion Reference Unit) sensor mounted on the gangway and detecting and measuring the amount of shaking caused by waves and swells, located in front of the ship The detection sensor 100 detects a floating structure and detects the motion information of the structure, and calculates the movement value of the ship detected through the detection sensor based on the amount of motion of the ship measured through the MRU sensor. It is characterized in that it comprises a berth maintenance control unit 200 for controlling the driving unit according to the obtained result value so that the berth platform can continuously maintain the berthing point with respect to the floating structure.

The detection sensor 100 can detect a floating structure located in front of the ship and is installed on the bow side of the ship to easily detect motion information of the structure.

The motion information of the floating structure detected through the detection sensor 100 may include position information, a moving direction, and a moving speed of the floating structure that are changed due to fluctuations caused by waves and swells.

To this end, in the present invention, the detection sensor may be a LiDAR sensor.

The LiDAR sensor measures the arrival time of the laser pulse reflected from the floating structure after scanning the laser pulse toward the floating structure in front to calculate the location information, moving direction, and moving speed of the floating structure. play a role

The LiDAR sensor according to this embodiment is not a structure that emits laser pulses while rotating 360 degrees to recognize the area on the front side of the ship's bow, but emits laser pulses in a preset direction and emits laser pulses in a preset area. It may be a device that separates an image sensor for taking pictures into two areas and processes both the LiDAR area and the image area.

Light Detection And Ranging (LIDAR) is a device for measuring a distance or position to an object using light or mainly a laser, and includes a light emitting unit, a light receiving unit, and a control unit.

The light emitting unit emits a laser beam toward an object (hereinafter referred to as a "floating structure"), and may be a line laser module that emits a laser beam forward or a laser scanning module that converts a laser beam into various shapes and emits light. can

Here, the line laser module or laser scanning module has a different structure, but basically a laser diode for generating a laser beam, a collimating lens for condensing the laser beam generated through the laser diode, and an electronic circuit for laser light emission ( not shown) may be included. The collimating lens is an optical lens that condenses the laser beam generated through the laser diode and is located behind the laser diode. At this time, the laser beam may have various forms such as pulse wave and continuous wave.

The light receiving unit receives a reflected laser beam formed by reflecting a laser beam emitted from the light emitting unit by the surface of the floating structure, and may include a condensing lens and an image sensor. The condensing lens is an optical element condensing a reflection pattern laser beam reflected by the surface of the floating structure, and the image sensor is an optical element receiving the laser beam condensed by the condensing lens.

The control unit calculates a distance to the floating structure using the laser beam received from the light receiving unit and determines the state of the floating structure. For example, the control unit may provide information about a pattern of a laser beam set in advance (eg, x-axis inclination of an arbitrary plane, y-axis inclination, distance to the object, length of the laser beam pattern in the x-axis direction and y-axis) length, etc.) and the information on the reflected laser beam received by the light receiver is received and compared to measure the distance from the light emitting unit to the floating structure, and the floating structure is rolled by waves and swells (ROLL ), when PITCHING or SURGING occurs, measure the movement direction and movement speed according to the fluctuation.

The eyepiece maintenance control unit 200 controls the driving unit 30 so that the eyepiece platform 22 can continuously maintain the eyepiece point with respect to the floating structure 2 .

An MRU (Motion Reference Unit) sensor (not shown) is a sensor mounted on the gangway 20 to detect the gangway's shaking caused by waves and measure the amount of the shaking. The MRU sensor detects rolling, pitching, and back and forth motions acting on the ship according to the height of the wave through an acceleration sensor provided therein, and transmits the detected motion amount to the berthing maintenance control unit 200.

The berthing control unit 200 is based on the amount of shaking of the ship measured through the MRU sensor, the roll (ROLL) cylinder, pitch (PITCH) cylinder or surge (SURGE) cylinder of at least one or more of the cylinders Calculate the required amount of operating stroke.

In addition, the berthing control unit 200 receives the movement value of the floating structure measured from the detection sensor, and then reflects the movement value of the floating structure to the operating stroke demand of the cylinder to obtain a roll cylinder, pitch The required amount of operating stroke of the corresponding cylinder is finally calculated among the PITCH cylinder and the surge cylinder, and the driving unit is controlled according to the calculated result.

For example, in a state where the ship 1 is docked on the floating structure, the ship is raised by a height of 2 m along the X-axis direction due to rollover, and the floating structure is raised by a height of 1 m along the X-axis direction Assumed, the berthing control unit 200 reflects the movement value of the floating structure to the required stroke of the roll cylinder 31 calculated from the rocking amount of the ship measured from the MRU, and the required stroke of the roll cylinder 31 is calculated as 1 m to control the roll cylinder by the corresponding distance. The above example is only an example to aid understanding of the present invention, and is not limited to the scope of the present invention.

In addition, the berthing control unit 200 continuously receives the amount of motion acting on the ship from the MRU sensor even when the vessel is docked on the floating structure, and determines the cylinder corresponding to the motion during roll, pitch, or back and forth motion. While calculating the operating stroke demand, the motion value for the floating structure 2 is received and reflected from the detection sensor 100 to control the driving unit so that the berthing platform continuously maintains the berthing point with respect to the floating structure .

Next, the berthing maintenance system of a ship for offshore floating structures according to the present invention includes an alarm unit 300 for outputting an alarm signal when the floating structure enters within a preset effective distance from the front of the ship, and the ship It may include a display unit 400 that displays the distance between the floating structure and the floating structure.

The alarm unit 300 and the display unit 400 are controlled by the eyepiece maintenance control unit 200 when a detection signal is output from the detection sensor 100 .

For example, when a floating structure in front is detected by the detection sensor 100 and entered within a preset effective distance and the corresponding signal is transmitted to the eyepiece maintenance control unit 200, the eyepiece maintenance control unit 200 alarm unit 300 is driven so that the fact is transmitted to the crew inside the ship, other ships around the floating structure, etc.

The alarm unit 300 may be formed in various forms, and may include, for example, a speaker or a lamp, and may notify that a ship is approaching a floating structure by outputting a notification sound such as a siren or emitting light.

In addition, the display unit 400 displays numerical values such as the distance between the ship and the floating structure, the location signal of the ship and the floating structure, and the navigation route and speed of the ship when the floating structure in front enters within a preset effective distance. It is output in real time in a form that is easy to identify with the naked eye, such as a graph or a graph.

On the other hand, in the present invention, the mechanical configuration in which the eyepiece holding control unit 200 controls the driving unit 30 to reduce rolling, pitching, and back and forth shaking is described in Korean Registered Patent Publication No. 10-2137150, previously filed to the present applicant. The configuration disclosed by "berthing maintenance system for ships for offshore structures" shall be applied mutatis mutandis. Accordingly, the stroke of the roll cylinder 31 is used to calculate the roll motion of ships and floating structures, and the stroke of the pitch cylinder 32 is the surge/heave/surge of ships and floating structures. It is used to calculate the roll/pitch motion, and the stroke of the surge cylinder 33 is used to calculate the surge motion of ships and floating structures.

In addition, the shape of the floating structure 2 shown in Figures 3a) to 4 is only an example to help the understanding of the present invention is not limited to the scope of the present invention.

Next, referring to FIG. 5, a process for maintaining a docking point on a floating structure by a ship according to a preferred embodiment of the present invention will be briefly described.

First, the movement value of the floating structure located in front of the ship is detected from the detection sensor 100 installed at the bow of the ship.

Here, the detection sensor 100 may be a LiDAR sensor.

In addition, the motion value detected by the detection sensor may be location information, a moving direction, and a moving speed of the floating structure.

Next, the motion value of the floating structure measured by the detection sensor 100 and the shaking motion of the ship detected by the MRU sensor are transmitted to the berth maintenance controller 200 .

The eyepiece holding control unit 200 calculates the required amount of the operating stroke of at least one or more cylinders of the roll cylinder, pitch cylinder, or surge cylinder according to the received shaking amount, and then , The motion value of the floating structure 2 detected by the detection sensor 100 is combined to finally calculate a result value, and then the drive unit 30 is controlled according to the calculated result value.

The eyepiece maintenance controller 200 continuously receives detection values from the detection sensor 100 and the MRU from the moment the floating structure enters within a preset effective distance until the eyepiece platform completes eye contact at an appropriate eyepiece. And while comparing, the necessary correction amount is repeatedly recommanded, and through this, the operator can safely move from the ship to the floating structure.

Above, the embodiments of the present invention disclosed in the present specification and drawings are only presented as specific examples to easily explain the technical content of the present invention and help understanding of the present invention, and are not intended to limit the scope of the present invention. In addition to the embodiments disclosed herein, it is obvious to those skilled in the art that other modifications based on the technical idea of the present invention can be implemented.

1: ship
2: floating structure 2′: fixed structure
10: fixed plate
20 : Gangway
21: base platform 22: docking platform
23: aisle platform
30: driving unit
31: roll cylinder 32: pitch cylinder
33: SURGE cylinder
100: detection sensor
110: light emitting unit 120: light receiving unit
130: control unit
200: control unit
300: alarm unit
400: display unit

Claims (4)

A fixed plate (10) fixed to the bow deck, a base platform (21) disposed above the fixed plate (10), and hinged to one side edge of the base platform A berthing docked to the offshore structure A gangway 20 including a platform 22 and a passage platform 23 coupled to the edge of the other side of the base platform and guiding workers in the ship to move toward the berthing platform; A roll cylinder that attenuates the roll cylinder generated by rotating the gangway in the reverse direction on the X axis when rolling motion occurs due to waves and swells, and the berthing platform based on the Y axis when rolling motion occurs due to waves and swells A pitch cylinder that attenuates the pitch cylinder generated by rotating in the reverse direction, and a surge cylinder that attenuates the pitch cylinder that is generated by rotating the gangway in the reverse direction relative to the Z-axis when back and forth fluctuations caused by waves and swells occur In the berthing maintenance system of a ship including a drive unit 30 including a drive unit 30 and an MRU (Motion Reference Unit) sensor coupled to one side of the gangway and detecting the shaking of the ship due to waves and swells and measuring the amount of shaking ,
A detection sensor 100 installed on the bow side of the ship and calculating location information, a moving direction and a moving speed of a floating structure located in front of the ship as movement values;
The required amount of the operating stroke of at least one or more cylinders of the roll cylinder, pitch cylinder, or surge cylinder calculated on the basis of the shaking amount of the ship measured through the MRU sensor A control unit for maintaining the berthing platform to continuously maintain the berthing point with respect to the floating structure by controlling the drive unit according to the result value calculated by reflecting the movement value of the floating structure measured from the detection sensor as a reference ( 200);
Docking maintenance system of a ship for offshore floating structures, characterized in that it comprises a.
The method of claim 1, wherein the detection sensor measures the arrival time of the laser pulse reflected from the floating structure after scanning the laser pulse toward the floating structure in front of the floating structure to measure the location information, moving direction, and moving speed of the floating structure. Berthing maintenance system of a ship for offshore floating structures, characterized in that the lidar sensor (LiDAR Sensor) that calculates.
The method of claim 1, comprising an alarm unit outputting an alarm signal when the forward floating structure enters within a preset effective distance, and a display unit displaying a distance between the ship and the floating structure. Berthing maintenance system for ships for offshore floating structures.
A fixed plate (10) fixed to the bow deck, a base platform (21) disposed above the fixed plate (10), and hinged to one side edge of the base platform A berthing docked to the offshore structure A gangway 20 including a platform 22 and a passage platform 23 coupled to the edge of the other side of the base platform and guiding workers in the ship to move toward the berthing platform; When roll occurs due to waves and swells, the gangway is rotated in the reverse direction based on the X-axis to damp the roll cylinder generated, and when pitching occurs due to waves and swells, the berth A pitch cylinder that attenuates the pitch cylinder generated by rotating the platform in the reverse direction on the Y-axis, and the back and forth generated by rotating the gangway in the reverse direction on the Z-axis when surfing occurs due to waves and swells. A driving unit 30 including a surge cylinder for damping sway, and a motion reference unit (MRU) sensor coupled to one side of the gangway to detect the sway of the ship due to waves and swells and measure the amount of sway In the berthing maintenance method of a ship comprising,
A first step (S1) of detecting the location information of the floating structure in front and the moving direction and moving speed of the floating structure as motion values when agitation occurs due to waves and swells from a detection sensor installed on the bow of the ship. and;
A second step (S2) of transmitting the motion value of the floating structure measured by the detection sensor to the berthing control unit;
A third step (S3) of transmitting the shaking motion of the ship detected by the MRU sensor to the berth maintenance control unit;
A fourth step (S4) of calculating a required amount of operating stroke of at least one or more of the roll cylinder, pitch cylinder, or surge cylinder with respect to the swing amount;
A fifth step (S5) of controlling the drive unit according to a result value calculated by combining the required amount of the operating stroke and the movement value of the floating structure;
Docking maintenance system of a ship for offshore floating structures, characterized in that it comprises a.

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