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公开(公告)号：US20210347449A1
公开(公告)日：2021-11-11
申请号：US17284426
申请日：2019-08-20
摘要： A LiDAR included in this automatic docking device measures the distance to a surrounding object at each predetermined angle by irradiating the object with light and receiving the light reflected by the object. When a ship offshore is instructed to perform automatic docking, the ship navigates to some extent by automatic navigation based on satellite positioning, and is then switched to automatic navigation based on the LiDAR. Before switching to the automatic navigation based on the LiDAR, the LiDAR performs preparatory measurement for measuring the distance to an object around a docking position. In this preparatory measurement, a control unit controls to change, for example, the orientation of the ship such that light emitted from the LiDAR can be reflected by the object around the docking position and can be received by the LiDAR.
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公开(公告)号：US12037090B2
公开(公告)日：2024-07-16
申请号：US17284426
申请日：2019-08-20
CPC分类号： B63B49/00 , B63B79/10 , B63B79/40 , G01S17/89 , G01S17/93 , G05D1/0206 , G06V20/52 , H04N7/183
摘要： A LiDAR included in this automatic docking device measures the distance to a surrounding object at each predetermined angle by irradiating the object with light and receiving the light reflected by the object. When a ship offshore is instructed to perform automatic docking, the ship navigates to some extent by automatic navigation based on satellite positioning, and is then switched to automatic navigation based on the LiDAR. Before switching to the automatic navigation based on the LiDAR, the LiDAR performs preparatory measurement for measuring the distance to an object around a docking position. In this preparatory measurement, a control unit controls to change, for example, the orientation of the ship such that light emitted from the LiDAR can be reflected by the object around the docking position and can be received by the LiDAR.
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公开(公告)号：US20240326962A1
公开(公告)日：2024-10-03
申请号：US18741746
申请日：2024-06-12
摘要： A LIDAR included in this automatic docking device measures the distance to a surrounding object at each predetermined angle by irradiating the object with light and receiving the light reflected by the object. When a ship offshore is instructed to perform automatic docking, the ship navigates to some extent by automatic navigation based on satellite positioning, and is then switched to automatic navigation based on the LiDAR. Before switching to the automatic navigation based on the LiDAR, the LiDAR performs preparatory measurement for measuring the distance to an object around a docking position. In this preparatory measurement, a control unit controls to change, for example, the orientation of the ship such that light emitted from the LiDAR can be reflected by the object around the docking position and can be received by the LiDAR.
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公开(公告)号：US20220028278A1
公开(公告)日：2022-01-27
申请号：US17296950
申请日：2019-11-26
发明人： Naohiro Hara , Tomoya Fukukawa , Yuichiro Dake
摘要： According to the present invention, a route controller generates a route that makes a ship dock at a berthing facility. The route includes a first location and a second location (P2). The first location is a via point that is offset a prescribed distance in a direction that is orthogonal to the direction in which the berthing facility is oriented from a docking point for the ship at the berthing facility. The second location is the docking point for the ship at the berthing facility. The first location is immediately before the second location in the sequence to be realized by the ship. The route is generated such that the ship remains oriented in the direction in which the berthing facility is oriented as the ship moves from the first location to the second location.
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公开(公告)号：US20220001970A1
公开(公告)日：2022-01-06
申请号：US17296995
申请日：2019-11-26
发明人： Naohiro Hara , Tomoya Fukukawa , Yuichiro Dake
摘要： A control target controller generates control targets in accordance with a route, the control targets being for controlling the location and orientation of a ship. The route has a plurality of via points. Each of the via points has information about a target location and a target orientation for the ship. The route is made up of a plurality of partial routes that sequentially connect the target locations of the via points. The control target controller comprises a transit target point generation part and an arrival determination part. The transit target point generation part can generate, as control targets, transit target points that are in the middle of the partial routes and have information about a target location and a target orientation for the ship. On the basis of the current location and the current orientation of the ship, the arrival determination part determines whether the ship has arrived at the transit target points.
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