公开(公告)号：US11691703B2

公开(公告)日：2023-07-04

申请号：US17059852

申请日：2018-06-01

申请人： WÄRTSILÄ VOYAGE GMBH

发明人： Jann-Timothy Grunewald Mayer ,  Karl Soderstjerna

IPC分类号： B63B79/40 ,  G05D1/02 ,  G08G3/02

CPC分类号： B63B79/40 ,  G05D1/0206 ,  G08G3/02 ,  B63B2213/02

摘要： Apparatus and computer-implemented method for autonomous marine vessel docking, the method including determining a transit control mode associated with route plan data defining transit operation between ports; determining an autonomous docking control mode associated with harbor track data including a set of waypoint properties and defining approach zone information and track segments joined at waypoints. Method further includes determining vessel location, speed and heading; comparing the vessel location, speed and heading to the approach zone information and changing from the transit control mode to the autonomous docking control mode in response to: the vessel location included by the location area information; the vessel speed being lower than the maximum vessel speed for entering the approach zone; and the vessel heading matching criteria defined by the maximum heading deviation for entering the approach zone.