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HRP20191479T1 - Postupak za privez na motorni pogon - Google Patents

Postupak za privez na motorni pogon Download PDF

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Publication number
HRP20191479T1
HRP20191479T1 HRP20191479T HRP20191479T1 HR P20191479 T1 HRP20191479 T1 HR P20191479T1 HR P20191479 T HRP20191479 T HR P20191479T HR P20191479 T1 HRP20191479 T1 HR P20191479T1
Authority
HR
Croatia
Prior art keywords
ship
mooring
path
map
environment
Prior art date
Application number
Other languages
English (en)
Inventor
Andreas Kuhn
Konstantin Kuhn
Original Assignee
Andreas Kuhn
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Andreas Kuhn filed Critical Andreas Kuhn
Publication of HRP20191479T1 publication Critical patent/HRP20191479T1/hr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
    • B63H25/02—Initiating means for steering, for slowing down, otherwise than by use of propulsive elements, or for dynamic anchoring
    • B63H25/04—Initiating means for steering, for slowing down, otherwise than by use of propulsive elements, or for dynamic anchoring automatic, e.g. reacting to compass
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B49/00—Arrangements of nautical instruments or navigational aids
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/06—Automatic manoeuvring for parking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/027—Parking aids, e.g. instruction means
    • B62D15/0285—Parking performed automatically
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
    • B63H25/52—Parts for steering not otherwise provided for
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/0206—Control of position or course in two dimensions specially adapted to water vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
    • B63H25/02—Initiating means for steering, for slowing down, otherwise than by use of propulsive elements, or for dynamic anchoring
    • B63H25/04—Initiating means for steering, for slowing down, otherwise than by use of propulsive elements, or for dynamic anchoring automatic, e.g. reacting to compass
    • B63H2025/045—Initiating means for steering, for slowing down, otherwise than by use of propulsive elements, or for dynamic anchoring automatic, e.g. reacting to compass making use of satellite radio beacon positioning systems, e.g. the Global Positioning System [GPS]
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
    • B63H25/42—Steering or dynamic anchoring by propulsive elements; Steering or dynamic anchoring by propellers used therefor only; Steering or dynamic anchoring by rudders carrying propellers
    • B63H2025/425—Propulsive elements, other than jets, substantially used for steering or dynamic anchoring only, with means for retracting, or otherwise moving to a rest position outside the water flow around the hull

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Automation & Control Theory (AREA)
  • Ocean & Marine Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Transportation (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Traffic Control Systems (AREA)
  • Navigation (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)
  • Control Of Multiple Motors (AREA)
  • Aiming, Guidance, Guns With A Light Source, Armor, Camouflage, And Targets (AREA)

Claims (12)

1. Postupak za privez na motorni pogon broda (1), naročito jahte, na mjesto za privez (2) u području za privez, pri čemu se u koraku generiranja karte izrađuje stvarna karta okoliša područja za privez, pri čemu se u koraku određivanja položaja za privez mjesto za privez (2) i položaj za privez broda (1) na mjestu za privez (2) određuju u području za privez, pri čemu se u koraku planiranja putanje kreira mnoštvo preliminarnih putanja prema stvarnom položaju broda (1) do položaja za privez broda (1), pri čemu se preliminarne putanje procjenjuju prema najmanje jednom kriteriju procjene i na temelju toga se dodjeljuje vrijednost kvalitete, pri čemu se preliminarna putanja s najboljom vrijednošću kvalitete odabire kao ciljana putanja (3) za korak praćenja putanje, pri čemu se u koraku praćenja putanje brod (1) usmjerava duž ciljne putanje (3) u smjeru položaja za privez.
2. Postupak prema patentnom zahtjevu 1, naznačen time što najmanje jedan kriterij ocjenjivanja obuhvaća vjerojatnost sudara broda (1) s drugim objektima sa stvarne karte.
3. Postupak prema patentnom zahtjevu 1 ili 2, naznačen time što se podaci senzora iz senzora za okoliš (4) broda (1) koriste za korak generiranja karte radi generiranja stvarne karte.
4. Postupak prema jednom od patentnih zahtjeva 1 do 3, naznačen time što je područje za privez lučki objekt (5), te da se prvi podaci poslani iz kontrolnog centra lučkog objekta (5) koriste za korak generiranja karte radi generiranja stvarne karte.
5. Postupak prema patentnom zahtjevu 4, naznačen time što prvi podaci sadrže koordinatne točke fiksnih konstrukcija (6) lučkog objekta (5).
6. Postupak prema patentnom zahtjevu 4 ili 5, naznačen time što prvi podaci sadrže plan zauzimanja lučkog objekta (5) s drugim brodovima (7).
7. Postupak prema jednom od patentnih zahtjeva 1 do 6, naznačen time što su mjesto za privez (2) i položaj za privez broda (1) određeni na osnovi stvarne karte.
8. Postupak prema jednom od patentnih zahtjeva 1 do 7, naznačen time što se u koraku praćenja putanje stvarna karta više puta ažurira.
9. Postupak prema jednom od patentnih zahtjeva 1 do 8, naznačen time što, se u koraku praćenja putanje, okolina broda (1) prati pomoću senzora okoline (4).
10. Postupak prema jednom od patentnih zahtjeva 1 do 9, naznačen time što ako se u koraku praćenja putanje detektira prepreka u ciljnoj putanji (3), ponovno se provodi korak planiranja putanje.
11. Brod (1), naročito jahta, koji sadrži uređaj za upravljanje za pomicanje broda (1), pri čemu brod (1) sadrži senzore okoline (4) i regulacijsku jedinicu spojenu na senzore okoline (4), pri čemu je regulacijska jedinica povezana upravljačkim uređajem kako bi se na unaprijed određeni način pomicao brod (1), naznačen time što je regulacijska jedinica konstruirana za izradu stvarne karte okoline područja za privez, radi odabira mjesta za privez (2) i položaja za privez broda (1) na mjestu za privez (2), kako bi se stvorio veći broj privremenih putanja od stvarnog položaja broda (1) do položaja za privez broda (1), radi procjene privremenih putanja prema najmanje jednom kriteriju ocjenjivanja i na temelju toga za dodjeljivanje vrijednosti kvalitete, te za odabir privremene putanje s najboljom vrijednošću kvalitete kao ciljne putanje (3), te za upravljanje brodom (1) duž ciljne putanje (3) u smjeru položaja za privez aktiviranjem upravljačkog uređaja uz nadzor okoline broda (1) pomoću senzora okoline (4).
12. Brod (1) prema patentnom zahtjevu 11, naznačen time što jedinica za reguliranje sadrži model strojnog učenja, model koji se temelji na podacima i/ili model koji se temelji na primjeru.
HRP20191479 2013-11-27 2019-08-16 Postupak za privez na motorni pogon HRP20191479T1 (hr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
ATA906/2013A AT515166B1 (de) 2013-11-27 2013-11-27 Verfahren zum motorenbetriebenen Anlegen
EP14450050.1A EP2878528B8 (de) 2013-11-27 2014-11-27 Verfahren zum motorenbetriebenen Anlegen

Publications (1)

Publication Number Publication Date
HRP20191479T1 true HRP20191479T1 (hr) 2019-11-15

Family

ID=52130184

Family Applications (1)

Application Number Title Priority Date Filing Date
HRP20191479 HRP20191479T1 (hr) 2013-11-27 2019-08-16 Postupak za privez na motorni pogon

Country Status (5)

Country Link
EP (1) EP2878528B8 (hr)
AT (1) AT515166B1 (hr)
DK (1) DK2878528T3 (hr)
ES (1) ES2742844T3 (hr)
HR (1) HRP20191479T1 (hr)

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DE102017221446B4 (de) * 2017-11-29 2020-09-24 Zf Friedrichshafen Ag Einrichtung und Verfahren zum An- oder Ablegen eines Schiffs an einer Anlegestelle
DE102018216514B4 (de) * 2018-09-26 2024-09-05 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Vorrichtung, Verfahren und Computerprogramm zum Betrieb eines Schiffes
EP3632789A1 (en) * 2018-10-01 2020-04-08 Kongsberg Defence & Aerospace AS System and method for assisting docking of a vessel
CN111007854B (zh) * 2019-12-18 2022-10-25 哈尔滨工程大学 一种欠驱动船轨迹跟踪控制系统
CN112509378B (zh) * 2020-11-16 2023-07-14 安徽科微智能科技有限公司 一种无人船智能停泊系统及其控制方法
CN114281077A (zh) * 2021-12-14 2022-04-05 深圳市博特动力技术有限公司 一种新能源船舶的电子锚泊方法及系统
CN114283371B (zh) * 2022-03-07 2022-06-21 深圳海润游艇码头工程有限公司 一种游艇码头泊位平台智能监控方法及装置
EP4432264A1 (en) 2023-03-17 2024-09-18 Abb Schweiz Ag Improving safety for vessels travelling along a route

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3400602A1 (de) * 1984-01-10 1985-07-18 Prakla-Seismos Gmbh, 3000 Hannover Verfahren und einrichtung zur navigation von schiffen
US6677889B2 (en) * 2002-01-22 2004-01-13 Raytheon Company Auto-docking system
US7165644B2 (en) * 2004-03-18 2007-01-23 Ford Global Technologies, Llc Method and apparatus of controlling an automotive vehicle using brake-steer as a function of steering wheel torque
JP4042980B2 (ja) * 2004-05-14 2008-02-06 本田技研工業株式会社 車両操作支援装置
US7518545B2 (en) * 2006-10-26 2009-04-14 Infineon Technologies Ag Driver assistance system
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Also Published As

Publication number Publication date
ES2742844T3 (es) 2020-02-17
EP2878528A3 (de) 2015-06-24
EP2878528A2 (de) 2015-06-03
EP2878528B1 (de) 2019-05-22
DK2878528T3 (da) 2019-08-19
AT515166A1 (de) 2015-06-15
AT515166B1 (de) 2024-08-15
EP2878528B8 (de) 2019-07-31

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