능동형 펜더를 기반으로한 접안지원 시스템 개발에 관한 연구

Abstract

The operation of ships for a long time has been automated through various studies. Recent research on automation of ships is being conducted with the goal of autonomous operation. The technology that ships operate in the ocean is based on various technologies such as GPS and radar, and has reached the degree to which they operate automatically under the observation of seaman. However, it is difficult to adjust the ship by autonomous operation from the entry into the port, which is the stage where the ship completes its voyage. In addition to controlling the movement of the ship itself, the berthing of the ship should also take into account many variables such as the amount of ship passage at the port, current, wind, and port facilities. The marine environment in which the ship moves continuously changes the hydrodynamic elements of the ship, and the movement of the ship in the port creates an environment in which it is difficult to control the movement by itself. During the berthing process of the ship, the speed is lowered to make the movement of the ship precise. When the moving speed of the ship is slowed, the controllability of the direction and position of the ship is greatly reduced. The advantage of a high energy efficiency means of transportation, such as a ship moving with little energy in the marine environment and switching directions using a small force, is a disadvantage in the ship berthing process within the port. As such, ship berthing is a very difficult task in the operation of ships. In the ship berthing process, the ship's own berthing using only the ship's main thruster and thruster requires a high level of strong control. In addition, it is essential to identify characteristics of individual ports, tonnage of ships, and ship type, and to control ships by experienced seaman who can operate ships. Depending on the size of the ship and the characteristics of the port, external assistance such as pilots and tug boats is also required. Due to the safety of the ship in the process, the speed of movement and berthing in the port are very limited. In particular, depending on the skill level of the seaman of the ship, the berthing time may show a big difference. In this study, we propose a technology for a new berthing support system that can improve the difference in ship berthing safety and speed according to the judgment of the captain and external assistance. The ship berthing support system was installed at the dock to assist the external force pushed by the tugboat with the onshore winch and rope, and to stabilize the speed and position at which the ship approaches the pier. The position of the ship was measured using an optical sensor, and the position control of the ship was proposed to cooperate with the tension applied to the rope and the pressure applied to the damper. The proposed ship berthing support system verified the speed and stability of ship berthing through model experiments, and verified the validity of the technology through ship berthing experiments using manufactured equipment.