WO2013180402A1

WO2013180402A1 - System for automatically docking vessel and method therefor

Info

Publication number: WO2013180402A1
Application number: PCT/KR2013/003929
Authority: WO
Inventors: 김석문
Original assignee: Kim Sug-Moon
Priority date: 2012-05-29
Filing date: 2013-05-07
Publication date: 2013-12-05
Also published as: KR101208168B1

Abstract

A system for automatically docking a vessel and a method therefor are disclosed. The system for automatically docking a vessel, according to the present invention, comprises: a vessel information acquisition server for acquiring vessel information including the location, mass, size and direction of a vessel being docked; a plurality of guiding line transmission devices for connecting guiding lines with the vessel being docked if the vessel being docked approaches within a set range on the basis of the vessel information acquired by the vessel information acquisition server; a computation server for computing the distance between the vessel being docked and the coast for docking on the basis of the vessel information acquisition server; and a guiding line control server for controlling the length and tension of the guiding line released by each of the plurality of guiding line transmission devices according to the vessel information acquired by the vessel information acquisition server and the distance computed by the computation server.

Description

Ship automatic berthing system and method

The present invention relates to a ship's automatic berthing system and method thereof, and more particularly, to reduce the cost consumed by reducing the human and physical resources required for ship berthing operations, as well as the position, mass, size, etc. of the ship The present invention relates to a ship's automatic berthing system that can be automatically and safely docked in consideration of the vessel information.

In general, a ship is a collective term for water transportation that carries people or goods and runs on water. These ships can be classified into merchant ships, special working ships, warships, and fishing vessels according to their purpose of use. Tankers for transporting liquids, cargoes for transporting solids, and carriers for transporting powder cargoes, depending on the condition of cargoes transported. RO-RO (Roll-On Roll-Off) line carrying cargo that can move like a car according to the way of loading cargo, and LO-LO (Lift-On Lift) carrying packed cargo It is also classified as an "off" line, or a float-on float-off line that transports large steel structures that are difficult to lift.

If a large ship carries more than a certain amount of cargo at the port, it is difficult for the ship to dock on its own. The reason for this is that when constructing a port, the depth is considered first, but the depth of the water near the pier cannot be avoided. Therefore, a large cargo ship must select a deep water and pull the ship into the coastal pier.

One of the most difficult tasks in ship operation is the eyepiece. That is, in the case of a ship, the acceleration of the ship is a difficult task that requires considerable skill because the acceleration of the movement is smaller than that of a car traveling on the road, but it has a large inertia and is exposed to a poor external environment such as blue. In particular, when berthing a large vessel with a large inertial force, berthing may be achieved through a process of pushing and pulling the vessel to be docked with a few tug boats.

For such ship berthing operations, bright pilots should be embarked on the nautical geography of the marina, and safe and efficient berthing work can be achieved only when effective team work with the vessel and support teams is in place.

However, the cost of the ship's berthing work requires a lot of human and physical resources, the cost is inevitable, and there is a problem that the ship's berthing work may have difficulty in accordance with changes in the weather conditions of the sea.

The present invention was devised to solve the above-mentioned problems, and it is possible not only to reduce the cost consumed by reducing the human and physical resources required for the ship's berthing operation, but also considering the ship's information about the ship's position, mass, size, etc. It is an object of the present invention to provide an automatic berthing system and a method for berthing automatically and safely.

In accordance with an aspect of the present invention, there is provided a ship automatic berthing system, comprising: a ship information acquisition server for acquiring ship information including a position, mass, size, and direction of a ship to be docked; A plurality of guideline transmission devices installed at different locations and connecting the eyepiece target ship to each guideline when the eyepiece target ship approaches the set range based on the ship information acquired by the ship information acquisition server; A calculation server for calculating a distance between the berthing target ship and the berthing coast based on the ship information currently acquired by the ship information acquisition server; And an induction line control server for controlling the length and tension of the induction line sent by each induction line transmission device according to the ship information acquired by the ship information acquisition server and the distance calculated by the calculation server. It is done.

The above-mentioned vessel automatic eyepiece system, the attitude measuring device for measuring the posture including at least one of the speed, inclination, direction of the ship to be docked; And a wireless communication device for wirelessly transmitting the posture information measured by the posture measuring device to the induction line control server. In this case, the guide line control server controls the length and tension of each guide line based on the posture measured by the posture measuring device.

Induction line transmitting device, the communication line for transmitting and receiving a signal to the induction line control server by wire or wireless; Cylindrical part; And a rotation control unit for winding or unwinding the induction line by rotating the cylindrical part in the forward or negative direction according to the signal transmitted and received through the communication unit.

The induction line transmitting device may further include a magnetic force generation unit mounted at the front end of each induction line and generating or blocking magnetic force based on a signal received from the induction line control server through the communication unit.

According to another aspect of the present invention, there is provided a ship automatic berthing system comprising: a ship information acquisition server for acquiring ship information including the position, mass, size, and direction of a ship to be docked; A plurality of unmanned propulsion devices that move to a corresponding position and adhere to the circumference of the eyepiece target ship when the eyepiece target ship is located within a set area based on the vessel information acquired by the vessel information acquisition server; A calculation server for calculating a distance between the berthing target ship and the berthing coast based on the ship information currently acquired by the ship information acquisition server; And a propulsion device control server for wirelessly controlling the propulsion force and the direction of each unmanned propulsion device according to the ship information obtained by the ship information acquisition server and the distance calculated by the calculation server.

The above-mentioned vessel automatic eyepiece system may further include an eyepiece path setting server for setting the eyepiece path of the eyepiece object when the eyepiece object ship is located within the set area. In this case, the propulsion system control server compares the position information currently obtained by the ship information acquisition server with the eyepiece path set by the eyepiece path setting server, and controls the propulsion and direction of each unmanned propulsion device according to the result of the comparison. do.

The above-mentioned vessel automatic berthing system is installed on the bottom of the ocean, a plurality of ultrasonic sensing devices for detecting each unmanned propulsion unit using ultrasonic signals transmitted at a set cycle; And a location determination server that receives a detection signal from each ultrasonic sensing device and determines a location of each unmanned propulsion device based on the received detection signal. In this case, the thrust force and the direction of each unmanned propulsion device are controlled in response to the position of each unmanned propulsion device determined by the position determination server.

The above-mentioned vessel automatic eyepiece system, the attitude measuring device for measuring the posture including at least one of the speed, inclination, direction of the ship to be docked; And a wireless communication device for wirelessly transmitting the posture information measured by the posture measuring device to the induction line control server. In this case, the propulsion device control server controls the driving force and direction of each unmanned propulsion device based on the posture measured by the attitude measuring device.

In accordance with still another aspect of the present invention, there is provided a ship automatic berthing system, comprising: a ship information acquisition server for acquiring ship information including a position, mass, size, and direction of a ship to be docked; A calculation server for calculating a distance between the berthing target ship and the berthing coast based on the ship information currently acquired by the ship information acquisition server; A plurality of drag devices installed in the eyepiece coast and attached to one side of the eyepiece object vessel to pull the eyepiece object vessel into the eyepiece coast; At least one pushing device installed in the eyepiece coast and pushing the eyepiece object in a direction opposite to the dragging device; And a control server controlling each drag device or push device based on the ship information currently acquired by the ship information acquisition server and the distance calculated by the calculation server.

The drag device includes a float floating on the sea; And a propellant for identifying the eyepiece target ship and for moving the float toward the identified eyepiece target ship.

The pushing device may be extended or shortened in the direction of the eyepiece to the eyepiece from the eyepiece coast.

According to an aspect of the present invention, there is provided a ship automatic docking method comprising: acquiring vessel information including a position, a mass, a size, and a direction of a ship to be docked; Connecting the eyepiece target ship with the guidance line of each guideline transmitting device when the eyepiece target ship approaches the set range based on the vessel information acquired by the vessel information acquisition step; And controlling the length and tension of each guideline based on the vessel information obtained by the vessel information acquisition step.

The above-mentioned vessel auto-eyepiece method may further include measuring a posture including at least one of a speed, a tilt and a direction of the ship to be docked by using an attitude measuring device installed on the ship to be docked. In this case, the guide line control step controls the length and tension of each guide line based on the posture measured by the posture measuring device.

The above-described vessel automatic berthing method may further include calculating a distance between the berthing target ship and the berthing coast based on the vessel information currently acquired by the vessel information acquisition step. In this case, the guide line control step controls the length and tension of each guide line according to the calculated distance.

The automatic vessel docking method described above may further include controlling the generation or blocking of magnetic force for the magnetic force generator mounted at the tip of each induction line.

According to another aspect of the present invention, there is provided a ship automatic docking method comprising: acquiring vessel information including a position, a mass, a size, and a direction of a ship to be docked; Moving the plurality of unmanned propulsion devices in close proximity to the eyepiece target ship if the eyepiece target ship is located within a set area based on the vessel information acquired by the vessel information acquisition step; And wirelessly controlling the propulsion force and the direction of each unmanned propulsion device based on the ship information obtained by the ship information acquisition step.

The above-described vessel automatic berthing method may include: setting an eyepiece path of a berthing target ship if the berthing target ship is located within a set area; And comparing the position information currently obtained by the vessel information obtaining step with the eyepiece path set by the eyepiece path setting step. In this case, the unmanned propulsion device control step controls the driving force and direction of each unmanned propulsion device according to the comparison result.

The above-mentioned automatic vessel docking method includes receiving a response signal from a plurality of ultrasonic sensors installed at predetermined intervals on a bottom of an ocean; And calculating a position of each unmanned propulsion device based on a response signal received from each ultrasonic sensor. In this case, the unmanned propulsion device control step controls the driving force and the direction of each unmanned propulsion device corresponding to the position of each unmanned propulsion device.

The above-mentioned vessel automatic berthing method includes calculating a distance between the berthing target ship and the berthing coast based on the vessel information acquired by the vessel information acquisition step; And measuring a posture including at least one of a speed, a tilt, and a direction of the ship to be docked by using the posture measuring device installed on the ship to be docked. In this case, the unmanned propulsion device control step controls the driving force and direction of each unmanned propulsion device based on the calculated distance and the measured attitude.

According to still another aspect of the present invention, there is provided a ship automatic docking method comprising: acquiring vessel information including a position, a mass, a size, and a direction of a ship to be docked; Attached to one side of the eyepiece target vessel and pulling the eyepiece target vessel into the eyepiece coast; Calculating a distance between the berthing target ship and the berthing coast based on the ship information currently acquired by the ship information acquisition step; And controlling the ship to be pulled or pushed in the opposite direction based on the ship information currently acquired by the ship information acquisition step and the distance calculated by the distance calculation step.

The above-mentioned automatic docking method of the ship includes: identifying a ship to be docked; And moving the floating body floating on the sea toward the eyepiece target ship.

1 is a view schematically showing a ship automatic berthing system according to an embodiment of the present invention.

Figure 2 is a view showing an installation example of the guide line delivery device shown in FIG.

3 is a view for explaining the induction line transmission of the induction line transmission apparatus shown in FIG.

4 is a view schematically showing a ship automatic berthing system according to another embodiment of the present invention.

5 is a view for explaining the control of the unmanned propulsion device of FIG.

Figure 6 is a view for explaining the process of the automatic docking of the vessel automatic docking system shown in FIG.

7 is a view schematically showing a ship automatic berthing system according to another embodiment of the present invention.

8 is a view for explaining the drag device and the pusher shown in FIG.

9 is a flow chart showing a vessel automatic docking method according to an embodiment of the present invention.

10 is a flow chart of a ship auto docking method according to another embodiment of the present invention.

11 is a flow chart of a ship automatic docking method according to another embodiment of the present invention.

Hereinafter, with reference to the accompanying drawings will be described in detail the vessel automatic berthing system and method according to an embodiment of the present invention.

Referring to Figure 1, the automatic vessel docking system according to an embodiment of the present invention is composed of the ship berthing guidance server 100, guide line delivery device 200 and the berthing target ship 300. Here, the ship berthing guidance server 100 includes a ship information acquisition server 110, operation server 120 and guideline control server 130. At this time, the vessel information acquisition server 110, the operation server 120 and the guideline control server 130 are each composed of an independent server to operate in conjunction with each other, or any component in the ship docking server 100 It may be made of hardware forming a.

The vessel information acquisition server 110 acquires vessel information including the position, mass, size, and direction of the ship to be docked 300. That is, when the ship information acquisition server 110 receives the eyepiece request signal from the ship to be docked, and acquires the ship information about the current position, mass, size, direction of the ship. At this time, the ship information acquisition server 110 receives the ship information from the corresponding docking target ship 300, or the position, mass, size for the docking target ship 300 using a GPS (Global Positioning System), ultrasonic sensors, etc. The ship information can be measured about the direction of the ship.

The operation server 120 calculates the distance between the berthing target ship and the berthing coast based on the ship information currently acquired by the ship information acquisition server 110. At this time, the operation server 120 after receiving the eyepiece request signal from the docking target ship 300, the ship information acquisition server 110 in the process of automatically docking the corresponding docking target ship 300 according to an embodiment of the present invention By receiving ship information such as position and direction periodically from the ship, it is possible to calculate the distance between the current berthing vessel and the berthing coast.

The guide line control server 130 is the length of the guide line transmitted by the guide line transmission device 200 according to the ship information obtained by the ship information acquisition server 110 and the distance calculated by the operation server 120 and Control the tension

Guide line sending device 200 is provided with a plurality, each is installed in a different position as shown in Figure 2, the berthing target ship is set based on the vessel information obtained by the vessel information acquisition server 110 Approach within the range to connect the docking vessel to each guideline. In this case, the induction line transmitting device 200 may include an induction line 210, a cylindrical unit 220, a communication unit 230, a rotation control unit 240 and a magnetic force generating unit 250.

At this time, each of the guide line delivery device 200 may be installed to face each other at a position (A) adjacent to the eyepiece target shore and a position (B) far away from the eyepiece target shore, as shown in FIG.

Induction line 210 is wound around the cylindrical portion (220). At this time, the communication unit 230 may be connected to the induction line control server 130 by wire or wireless to transmit and receive a control signal, and to rotate the cylindrical portion 220 in the positive or negative direction on the shaft of the cylindrical portion 220. Rotation control unit 240 is connected. The rotation controller 240 may wind or unwind the induction line by rotating the cylindrical part 220 in the forward or negative direction according to a control signal received from the induction line control server 130 through the communication unit 230. In addition, a magnetic force generator 250 is installed at the tip of the induction line 210 to generate or block magnetic force according to a control signal received from the induction line control server 130 through the communication unit 230. At this time, the magnetic force generating unit 250 may be formed in the shape of a donut or hook.

2 and 3, each of the induction line transmitting apparatus 200 may locate each magnetic force generating unit 250 within a set range. In this case, the guide line delivery device 200 (A) adjacent to the berthing coast may be in a released state, and the guide line delivery device 200 (B) far away from the berthing coast winds the guide line. Can be.

When the docking target ship 300 approaches within the set range, each guideline delivery device 200 connects each guideline 210 with the corresponding docking target ship 300. To this end, the eyepiece 300 is provided with a connection line (not shown) for connecting with each of the induction line 210, the end of the connection line is provided with iron or magnetic material, the iron or magnetic material It may be implemented in a hook shape. That is, when the docking target ship 300 approaches within the set range and lowers the connection line, the induction line control server 130 controls to generate magnetic force in the magnetic force generating unit 250 of each induction line transmitting device 200. It transmits a signal, through which the induction line 210 and the connection line of the eyepiece target ship 300 of each induction line transmission device 200 can be connected.

When the induction line 210 of each induction line transmission device 200 is connected to the eyepiece target ship 300, the induction line control server 130 controls the tension and length of each induction line 210 to the eyepiece The ship 300 is drawn into the berth. That is, the induction line control server 130 controls the induction line 210 of the induction line transmission device 200 (A) adjacent to the eyepiece coast to be wound on the cylindrical portion 220, and guides the position far from the eyepiece coast. The induction line 210 of the line delivery device 200 (B) may be controlled to be released from the cylindrical portion 220 to drag the eyepiece target ship 300 into the eyepiece coast.

Meanwhile, the eyepiece target ship 300 may include a posture measuring device 310 and a wireless communication device 320. Here, the posture measuring device 310 measures the posture including at least one of the speed, the tilt, and the direction of the eyepiece target ship 300 in the process of the eyepiece 300 is automatically docked into the eyepiece coast. In addition, the wireless communication device 320 wirelessly transmits the attitude information of the eyepiece target ship 300 measured by the attitude measuring device 310 to the induction line control server 130. In this case, the induction line control server 130 may correct the length and tension of each induction line 210 according to the attitude information of the eyepiece target ship received through the wireless communication device 320. For example, when the direction of the eyepiece target ship 300 is skewed or the inclination is inclined in any particular direction, the guideline control server 130 controls the length and tension of each guideline to dock the eyepiece target ship 300 ) Can correct the posture normally.

When the berthing target ship 300 is the berthing coast is completed, the induction line control server 130 generates a magnetic force in the magnetic force generating unit 250 of each induction line transmission device 200. At this time, the induction line control server 130 is a magnetic force generation of the induction line transmission device 200 (B) far from the eyepiece generator 250 and the eyepiece coast of the induction line transmission device 200 (A) adjacent to the berthing coast. When the guide line 210 of the guide line delivery device 200 (B) far away from the eyepiece coast is wound while the part 250 is in close contact, the guide line delivery device 200 (A) The induction line 210 is pulled while being released, and the induction line control server 130 may block and control the magnetic force of the magnetic force generating unit 250 when each induction line 210 is positioned within a set range.

Referring to FIG. 4, the ship's automatic berthing system according to the present invention may include a berthing target ship 300, a ship's berth induction server 400, an unmanned propulsion device 500, and an ultrasonic sensing device 600.

The eyepiece target ship 300 may include a posture measuring device 310 and a wireless communication device 320. Here, the posture measuring device 310 measures the posture including at least one of the speed, the tilt, and the direction of the eyepiece target ship 300 in the process of the eyepiece 300 is automatically docked into the eyepiece coast. In addition, the wireless communication device 320 wirelessly transmits the attitude information of the eyepiece target ship 300 measured by the attitude measuring device 310 to the propulsion device control server 430.

The ship berthing guidance server 400 includes a ship information acquisition server 410, operation server 420, propulsion device control server 430, eyepiece path setting server 440 and position determination server 450. At this time, the ship information acquisition server 410, operation server 420, propulsion device control server 430, eyepiece path setting server 440 and position determination server 450 are each formed as independent servers and interworked It may be made of hardware that operates or constitutes an integral component in the ship's eyepiece guided server 400.

The vessel information acquisition server 410 acquires vessel information including the position, mass, size, and direction of the vessel to be docked 300. That is, the ship information acquisition server 410 acquires ship information on the current position, mass, size, direction of travel, etc. for the ship to be docked when the eyepiece request signal is received from the ship to be docked. At this time, the vessel information acquisition server 410 receives vessel information from the corresponding berth 300, or position, mass, size for the berth 300 by using a GPS (Global Positioning System), ultrasonic sensors, etc. The ship information can be measured about the direction of the ship.

The calculation server 420 calculates the distance between the berthing target ship and the berthing coast based on the ship information currently acquired by the ship information acquisition server 410. At this time, the operation server 420 after receiving the eyepiece request signal from the docking target ship 300, the ship information acquisition server 410 in the process of automatically docking the corresponding docking target ship 300 according to an embodiment of the present invention By receiving ship information such as position and direction periodically from the ship, it is possible to calculate the distance between the corresponding berthing vessel and the berthing coast at the current position.

The propulsion device control server 430 controls the propulsion force and direction of the plurality of unmanned propulsion devices 500 according to the ship information obtained by the ship information acquisition server 410 and the distance calculated by the calculation server 420. To this end, the propulsion device control server 430 transmits and receives data wirelessly with the unmanned propulsion device (500).

The eyepiece path setting server 440 sets the eyepiece path of the eyepiece object ship 300 when the eyepiece object vessel 300 is located within the set area. At this time, the propulsion device control server 430 compares the position information currently obtained by the ship information acquisition server 410 with the eyepiece path set by the eyepiece path setting server 440, each unmanned in accordance with the comparison result The driving force and direction of the propulsion device 500 can be controlled.

Meanwhile, a plurality of ultrasonic sensing devices 600 may be installed on the bottom or sea surface of the ocean at set intervals as shown in FIG. 5, and each ultrasonic sensing device 600 transmits ultrasonic signals at set cycles and correspondingly. By transmitting the received detection signal to the position determination server 450. At this time, each ultrasonic sensing device 600 stores a unique identifier and location information, and transmits the ultrasonic signal to the vertical upper surface and receives the reflection signal for the transmitted to the position determination server 450.

The position determination server 450 receives a detection signal corresponding to an ultrasonic signal from each ultrasonic sensing device 600 installed in the form of a buoy on the sea bottom or the sea surface, and the sensing signals received from the plurality of ultrasonic sensing devices 600. Based on the position of the unmanned propulsion device 500 can be determined. That is, the position of the unmanned propulsion device 500 may be determined based on the relative strength of the detection signal of each ultrasonic sensing device 600. At this time, the propulsion device control server 430 corresponds to the position of each unmanned propulsion device 500 determined by the position determination server 450, the distance between the berthing target ship 300 and the unmanned propulsion device 500, It is possible to calculate the direction, etc., thereby controlling the driving force and direction of each unmanned propulsion device (500).

The unmanned propulsion device 500 is a small ship whose direction and propulsion force are controlled in accordance with a control signal wirelessly received from the propulsion control server 430, the size and the propulsion force of the ship to be docked 300, the size, etc. It can be set to various kinds.

FIG. 6 is a view for explaining an automatic berthing process of the automatic ship berthing system shown in FIG.

When the eyepiece request signal is received from the eyepiece target ship 300, the propulsion device control server 430 may wirelessly control the plurality of unmanned propulsion devices 500 to be in close contact with the berth target ship 300.

The eyepiece path setting server 440 sets the eyepiece path of the eyepiece object ship 300 when the eyepiece object vessel 300 is located within the set area. At this time, the propulsion device control server 430 compares the position information currently obtained by the ship information acquisition server 410 with the eyepiece path set by the eyepiece path setting server 440, each unmanned in accordance with the comparison result Controls the propulsion and direction of the propulsion device (500). For example, assuming that the eyepiece path set by the eyepiece path setting server 440 is P1-> P2-> P3-> P4, the propulsion device control server 430 is the propulsion force of the unmanned propulsion device 500 at a specific position. And by controlling the direction of the berthing target ship to the berthing coast, and compares the position information currently obtained by the ship information acquisition server 410 with the eyepiece path set by the eyepiece path setting server 440 Examine whether or not the deviation, and accordingly can be controlled by correcting the driving force and direction of each unmanned propulsion device (500).

In addition, the propulsion device control server 430 may correct the propulsion and direction of each unmanned propulsion device 500 based on the attitude information of the eyepiece sung ship 300 received through the wireless communication device 320.

Referring to FIG. 7, the ship's automatic berthing system according to the present invention may include a berthing target ship 300, the ship berthing guidance server 700 and the drag and push device (800).

The ship berth induction server 700 includes a ship information acquisition server 710, a calculation server 720 and a control server 730. At this time, the ship information acquisition server 710, the operation server 720 and the control server 730 are each made of an independent server to operate in conjunction with each other, or to form any component in the ship docking guide server 700 It may be made in hardware.

The vessel information acquisition server 710 acquires vessel information including the position, mass, size, and direction of the vessel to be docked 300. That is, the ship information acquisition server 710 acquires ship information about the current position, mass, size, direction of travel, etc., when the eyepiece request signal is received from the ship to be docked. At this time, the ship information acquisition server 710 receives the ship information from the corresponding docking target ship 300, or the ship about the position, mass, size, direction, etc. for the docking target ship 300 using GPS, ultrasonic sensors, etc. Information can be measured.

The calculation server 720 calculates the distance between the berthing target ship and the berthing coast based on the ship information currently acquired by the ship information acquisition server 710. At this time, the operation server 720 after receiving the eyepiece request signal from the docking target ship 300, the ship information acquisition server 710 in the process of automatically docking the corresponding docking target ship 300 according to an embodiment of the present invention By receiving ship information such as position and direction periodically from the ship, it is possible to calculate the distance between the corresponding berthing vessel and the berthing coast at the current position.

The control server 730 is the respective draw device 810 of the drag and push device 800 based on the ship information currently obtained by the ship information acquisition server 710 and the distance calculated by the operation server 720 or The pusher 820 is controlled.

The drag device 810 constituting the drag and push device 800 is installed on the berthing coast, is attached to one side of the berthing target ship 300 to pull the berthing target ship 300 to the berthing coast. In addition, the pushing device 820 is installed in the eyepiece coast, and pushes the eyepiece target ship 300 in a direction opposite to the direction in which the drag device 810 is dragged.

FIG. 8 is a view for explaining a drag device and a push device shown in FIG.

Referring to FIG. 8, the drag device 810 may be made of a flexible material such as a rope, and a floating body 812 floating on the sea is installed at a tip thereof. In addition, the floating body 812 is formed with a propellant 814 for identifying the eyepiece 300 and moving the floating body 812 toward the identified eyepiece 300. At this time, the propellant 814 recognizes a specific position as an identification value based on the ship information acquired by the ship information acquisition server 710 and moves the floating body 812, or the side of the berthing target ship 300. The floating body 812 may be moved to a position of a corresponding transmission sensor by recognizing a signal of a specific frequency transmitted by a transmission sensor (not shown) installed in the unit, and tracking the position of the recognized frequency signal. However, identification and movement of the eyepiece 300 by the propellant 814 is not limited to the described method, and various known object recognition methods may be used. In this case, a rope such as a rope constituting the drag device 810 is preferably implemented so that its length extends in the moving direction of the floating body 812.

When the floating body 812 moves to one side of the eyepiece 300, the drag device 810 connected to the floating body 812 is connected to the eyepiece 300. At this time, the drag device 810 may be implemented to be automatically connected to a specific position of the eyepiece 300 by the magnetism. In this case, it is preferable that the drag device 810 is connected to a plurality of positions, such as the stern, the tail, the center of the eyepiece 300.

The control server 730 may control the drag device 810 connected to one side of the docking target ship 300 to pull the docking target ship 300 to the docking coast. At this time, the control server 730 may control the progress direction of the eyepiece target ship 300 by adjusting the pulling force of each drag device 810 differently.

On the other hand, if you pull the berthing target ship 300 in one direction of the berthing coast, the traveling direction of the berthing target ship 300 may deviate from the predetermined path. In this case, the control server 730 may control the length of the pusher 820 to push the eyepiece target ship 300 in the opposite direction to the eyepiece coast. To this end, the pusher 820 may be extended or shortened in length, and preferably at the tip thereof has a contact surface made of a soft material to prevent breakage of the contact portion of the berthing target ship 300. In addition, the pushing device 820 is preferably provided in plurality in the eyepiece coastline, or is provided to be movable in the left and right directions along the eyepiece coastline.

9 is a flow chart of a ship auto docking method according to an embodiment of the present invention.

1, 2, 3 and 9, the vessel information acquisition server 110 obtains vessel information including the position, mass, size, direction of the berth target ship (S102). That is, the ship information acquisition server 110 obtains the ship information on the current position, mass, size, direction of travel for the corresponding docking vessel when the eyepiece request signal is received from the docking target vessel.

The induction line control server 130 may generate or block control the magnetic force of the magnetic force generating unit 250 installed at the tip of each induction line 210 to position each induction line 210 within a set range; S104), by generating or blocking control of the magnetic force for the magnetic force generating unit 250 of each induction line 210, it is possible to connect each induction line to the eyepiece target ship 300 (S106).

The induction line control server 130 controls the length and tension of each induction line 210 to attract the eyepiece target ship 300 to the eyepiece (S108).

The calculation server 120 calculates the distance between the berthing target ship and the berthing coast based on the ship information acquired by the ship information acquisition server 110 (S110). At this time, the operation server 120 after receiving the eyepiece request signal from the docking target ship 300, in the process of automatically docking the corresponding docking target ship 300 by measuring the variation of the vessel information such as position, direction, etc. periodically The change in distance between the ship to be docked and the coast of the eyepiece may be calculated.

The posture measuring device 310 measures a posture including at least one of the speed, the inclination, and the direction of the eyepiece target ship 300 in the process of the eyepiece object 300 being automatically docked into the eyepiece (S112). In addition, the wireless communication device 320 wirelessly transmits the attitude information of the eyepiece target ship 300 measured by the attitude measuring device 310 to the induction line control server 130. In this case, the induction line control server 130 is not normal (S114) (for example, the direction or the slope is inclined or the speed is not the attitude of the docking target ship 300 received through the wireless communication device 320) If outside the set range), the length and tension of each induction line 210 can be corrected (S116).

This process may be repeatedly performed until the distance between the eyepiece target ship and the eyepiece coast calculated by the calculation server 120 becomes less than or equal to the set value (S118).

10 is a flow chart of a ship automatic docking method according to another embodiment of the present invention.

4, 5, 6, and 10, the ship information acquisition server 410 obtains ship information including the position, mass, size, and direction of the ship to be docked (S202). That is, the ship information acquisition server 410 acquires ship information on the current position, mass, size, direction of travel, etc. for the ship to be docked when the eyepiece request signal is received from the ship to be docked.

When the eyepiece request signal is received from the eyepiece target ship 300, the propulsion device control server 430 wirelessly controls the plurality of unmanned propulsion device 500 to closely adhere to the circumference of the eyepiece target ship 300 (S204).

The eyepiece path setting server 440 sets the eyepiece path of the eyepiece object ship 300 when the eyepiece object ship 300 is located within the set area (S206). Here, although the plurality of unmanned propulsion devices 500 are in close contact with the circumference of the berthing target ship 300, the eyepiece path setting server 440 is described as setting the berth path of the berthing target ship 300, The plurality of unmanned propulsion devices 500 may be controlled to move in close contact with the eyepiece target ship 300 after setting the eyepiece path by the eyepiece path setting server 440.

The propulsion device control server 430 controls the propulsion force and direction of the plurality of unmanned propulsion devices 500 according to the ship information obtained by the ship information acquisition server 410 and the distance calculated by the operation server 420 ( S208).

The position determination server 450 receives a detection signal corresponding to an ultrasonic signal from each ultrasonic sensing device 600, and determines the position of each unmanned propulsion device 500 based on the received detection signal (S210). . In this case, the propulsion device control server 430 may control the propulsion force and the direction of each unmanned propulsion device 500 in response to the position of each unmanned propulsion device 500 determined by the position determination server 450. .

The calculation server 420 calculates the distance between the berthing target ship and the berthing coast based on the ship information acquired by the ship information acquisition server 410 (S212). At this time, the operation server 420 periodically receives the eyepiece request signal from the eyepiece target ship 300, and then periodically measures the variation of ship information such as position and direction in the process of automatically docking the corresponding eyepiece target ship 300. The change in distance between the ship to be docked and the coast of the eyepiece may be calculated.

The propulsion device control server 430 compares the position information currently obtained by the ship information acquisition server 410 with the eyepiece path set by the eyepiece path setting server 440 (S214), and the eyepiece target according to the comparison result. When the ship 300 is out of the set path (S216), the driving force and the direction of each unmanned propulsion device 500 is corrected and controlled (S218).

The posture measuring device 310 measures a posture including at least one of the speed, the inclination, and the direction of the eyepiece target ship 300 in the process of automatically docking the eyepiece target vessel 300 into the eyepiece (S220). In addition, the wireless communication device 320 wirelessly transmits the attitude information of the eyepiece target ship 300 measured by the attitude measuring device 310 to the propulsion device control server 430. In this case, if the attitude of the eyepiece target ship 300 received through the wireless communication device 320 is not normal (S222) (for example, the direction or the slope is inclined or the speed is out of the set range, etc.). ), The propulsion device control server 430 may correct the direction and propulsion of each unmanned propulsion device (500) (S218).

This process may be repeatedly performed until the distance between the eyepiece target ship and the eyepiece coast calculated by the calculation server 420 becomes less than or equal to the set value (S224).

11 is a flowchart illustrating a ship automatic docking method according to another embodiment of the present invention.

7, 8 and 11, the ship information acquisition server 710 acquires ship information including the position, mass, size, and direction of the ship to be docked (S302).

The propellant 814 recognizes the docking target ship 300 (S304). At this time, based on the vessel information obtained by the vessel information acquisition server 710 recognizes a specific position as an identification value to move the floating body 812, or the transmission sensor pre-installed on the side of the berth target ship 300 A signal of a specific frequency transmitted by (not shown) can be recognized. At this time, the propellant 814 moves the floating body 812 to the position of the corresponding transmission sensor by tracking the position of the recognized frequency signal (S306).

When the floating body 812 moves to one side of the eyepiece 300, the drag device 810 is connected to the side of the eyepiece 300, the control server 730 is one of the eyepiece 300 The drag device 810 connected to the side is controlled to pull the berth target ship 300 into the berthing coast (S308). At this time, the control server 730 may control the progress direction of the eyepiece target ship 300 by adjusting the pulling force of each drag device 810 differently.

On the other hand, if you pull the berthing target ship 300 in one direction of the berthing coast, the traveling direction of the berthing target ship 300 may deviate from the predetermined path. In this case, the calculation server 720 calculates the distance between the berthing target ship 300 and the berthing coast based on the ship information currently acquired by the ship information acquisition server 710 (S310). At this time, the operation server 720 may calculate the distance between each connection point and the eyepiece coast based on the direction of the eyepiece target ship 300, the length of each drag device 810, and the like.

The docking target ship 300 uses the predetermined docking route based on the distance between the docking target ship 300 and the docking coast calculated by the calculation server 720 and the ship information currently acquired by the ship information acquisition server 710. If it is determined that the deviation, the control server 730 may control the length of the pusher 820 to push a specific point of the berth target ship 300 in the opposite direction to the berthing coast (S312). At this time, the pulling device 810 may be controlled to control the pushing device 820 to change the direction of the docking target ship 300 and at the same time.

According to the present invention, by reducing the human resources and physical resources required for ship docking work it is possible to reduce the cost consumed by the ship docking work.

In addition, according to the present invention it is possible to prevent the damage of the ship due to the collision with the shore at the time of ship docking by drawing the ship safely to the berth in consideration of the ship information on the position, mass, size, etc. of the ship.

Claims

A ship information acquisition server for acquiring ship information including the position, mass, size, and direction of the ship to be docked;

A plurality of guideline transmission devices installed at different locations and connecting the eyepiece target ship and the guidance line when the eyepiece target ship approaches within a set range based on the ship information acquired by the ship information acquisition server;

An operation server for calculating a distance between the ship to be docked and the coast to be docked based on ship information currently acquired by the ship information acquisition server; And

An induction line control server controlling the length and tension of the induction line sent by each of the induction line transmitting devices according to the ship information obtained by the vessel information acquisition server and the distance calculated by the calculation server;

Includes, each of the induction line sending device,

A communication unit for transmitting and receiving a signal to or from the induction line control server by wire or wirelessly;

Cylindrical part;

A rotation control unit for winding or unwinding the induction line by rotating the cylindrical part in a forward direction or a negative direction according to a signal transmitted and received through the communication unit; And

A magnetic force generation unit mounted at the front end of each induction line and generating or blocking magnetic force based on a signal received from the induction line control server through the communication unit;

Including,

The guidance line control server transmits a control signal for generating or blocking magnetic force to the magnetic force generating unit when the eyepiece target ship approaches the set range, thereby connecting the eyepiece target vessel to the guidance line of each of the guidance line delivery devices. Vessel automatic berthing system, characterized in that for controlling.
The method of claim 1,

A posture measuring device for measuring a posture including at least one of a speed, a tilt, and a direction of the ship to be docked; And

A wireless communication device wirelessly transmitting posture information measured by the posture measuring device to the induction line control server;

More,

The guideline control server is a ship auto-berthing system, characterized in that for controlling the length and tension of each guideline based on the posture measured by the attitude measuring device.
A ship information acquisition server for acquiring ship information including the position, mass, size, and direction of the ship to be docked;

A plurality of unmanned propulsion devices that move to a corresponding position and adhere to the circumference of the eyepiece target ship when the eyepiece target ship is located within a set area based on the vessel information acquired by the vessel information acquisition server;

A calculation server for calculating a distance between the ship to be docked and the coast to be docked on the basis of ship information currently acquired by the ship information acquisition server;

A propulsion device control server for wirelessly controlling the propulsion force and direction of each unmanned propulsion device according to the ship information obtained by the ship information acquisition server and the distance calculated by the operation server;

A plurality of ultrasonic sensing devices installed on the bottom or sea surface of the ocean at a predetermined interval, storing unique identifiers and position information, transmitting ultrasonic signals and receiving reflection signals thereto; And

A position determination server that determines a position of each unmanned propulsion device based on a reflection signal received by each ultrasonic sensing device;

Including;

The propulsion device control server is a distance and direction between the berthing target ship and each of the unmanned propulsion device corresponding to the position of each of the unmanned propulsion device determined by the position determination server, and the eyepiece coast and each of the unmanned propulsion device. Computing the distance and direction between the propulsion device, and accordingly controls the propulsion and direction of each of the unmanned propulsion system.
The method of claim 3,

An eyepiece path setting server for setting an eyepiece path of the eyepiece object when the eyepiece object ship is located in the set area;

More,

The propulsion device control server compares the position information currently obtained by the vessel information acquisition server with the eyepiece path set by the eyepiece path setting server, and compares the propulsion force and direction of each of the unmanned propulsion devices according to the comparison result. Vessel automatic berthing system, characterized in that for controlling.
A ship information acquisition server for acquiring ship information including the position, mass, size, and direction of the ship to be docked;

A calculation server for calculating a distance between the berthing target ship and the berthing coast based on the ship information currently acquired by the ship information acquisition server;

A plurality of drag devices installed in the eyepiece coast and attached to one side of the eyepiece object vessel to pull the eyepiece object vessel to the eyepiece coast;

At least one pushing device installed in the eyepiece coast and pushing the eyepiece target ship in a direction opposite to the drag device; And

A control server for controlling each of the drag device and the push device based on the ship information currently acquired by the ship information acquisition server and the distance calculated by the calculation server;

Including;

Each of the drag device is made of a flexible material (floating), floating on the sea at its tip; And a propellant for identifying the eyepiece target ship and moving the floating body toward a set position of the side closest to the eyepiece coast of the eyepiece target vessel by the control of the control server.

The pushing device is formed in the shape of a rod, the control of the control server, the ship's automatic berthing system, characterized in that it extends in the direction of the berth target ship in the eyepiece or reduced in the direction of the berthing coast.
In the ship auto docking method performed by the ship auto docking system,

Acquiring vessel information including the position, mass, size, and direction of the vessel to be docked;

Controlling generation or interruption of magnetic force for the magnetic force generator mounted at the tip of each induction line;

On the basis of the vessel information obtained by the vessel information acquisition step, when the docking target ship approaches within the set range, by sending a magnetic force generating control signal to the magnetic force generating section to connect the docking target vessel and each of the guideline step;

Controlling the length and tension of each of the guide lines based on the vessel information obtained by the vessel information acquisition step; And

Calculating a distance between the ship to be docked and the coast to be docked on the basis of ship information obtained by the ship information acquisition step;

Including;

The step of controlling the length and tension of the guide line is a ship auto docking method, characterized in that for adjusting the length and tension of the guide line according to the distance calculated by the distance calculation step.
The method of claim 6,

Measuring a posture including at least one of a speed, a tilt and a direction of the ship to be docked by using the attitude measuring device installed on the ship to be docked;

Further comprising, the induction line control step,

And the length and tension of each of the guide lines based on the posture measured by the posture measuring device.
In the ship auto docking method performed by the ship auto docking system,

Acquiring vessel information including the position, mass, size, and direction of the vessel to be docked;

Moving the plurality of unmanned propulsion devices in close contact with the eyepiece target ship if the eyepiece target ship is located within a set area based on the vessel information acquired by the vessel information acquisition step;

Wirelessly controlling propulsion and direction of each of the unmanned propulsion apparatus based on the vessel information obtained by the vessel information acquisition step; And

Install a plurality of ultrasonic sensors at intervals set at the bottom of the ocean or at sea level, store unique identifiers and location information in each ultrasonic sensor, and transmit ultrasonic signals through the ultrasonic sensors. Receiving a reflected signal;

Including;

The step of controlling the unmanned propulsion device determines the position of each unmanned propulsion device based on the reflection signal received by each ultrasonic sensing device, and corresponds to the position of the eyepiece corresponding to the determined position of each unmanned propulsion device. Calculate the distance and direction between the ship and each of the unmanned propulsion devices, and the distance and direction between the eyepiece coast and each of the unmanned propulsion devices, thereby controlling the propulsion and direction of each of the unmanned propulsion devices. Ship berthing method.
The method of claim 8,

Setting an eyepiece path of the eyepiece target ship when the eyepiece target ship is located within the set area; And

Comparing the position information currently obtained by the vessel information obtaining step with the eyepiece path set by the eyepiece path setting step;

Further comprising, the unmanned propulsion device control step,

And a propulsion force and a direction of each unmanned propulsion device according to the comparison result.
In the ship auto docking method performed by the ship auto docking system,

Acquiring vessel information including the position, mass, size, and direction of the eyepiece target ship;

Identifying by the propellant the eyepiece vessel;

Moving the propellant floating body floating on the sea toward the eyepiece target ship;

Attaching a plurality of drag devices to one side of the eyepiece target vessel, and then using the respective dragging apparatus to pull the eyepiece target vessel into the eyepiece coast;

Calculating a distance between the berthing target ship and the berthing coast based on the vessel information currently acquired by the vessel information obtaining step; And

By using the at least one pushing device installed in the berthing coast by pulling the berthing target ship through the drag device based on the vessel information obtained by the vessel information acquisition step and the distance calculated by the distance calculation step. Controlling the eyepiece to be pushed in the opposite direction;

Including;

Each of the dragging devices is made of a flexible material including a rope, and the floating body and the propellant are installed at a tip thereof, and the propelling body of the side closest to the eyepiece coast of the ship to be docked. To the set position,

The pushing device is formed in the shape of a rod, the eyepiece docking method, characterized in that extending in the direction of the ship to be docked in the eyepiece or reduced in the direction of the eyepiece coast.