To provide a an automatic mooring method and an automatic mooring system capable of automatically connecting a mooring cable to existent mooring means provided on a dock or a pier.SOLUTION: A distance determination step S2 for recognizing mooring means such as a dock to bring a vessel close to it, and then determining whether or not distance is within a distance threshold, a launching condition determination step S4 for determining whether or not launching conditions regarding deviation in three dimensional position of mooring cable launching means to the mooring means and angular velocity if the distance is within the distance threshold, a mooring cable launching step S6 for launching the mooring cable by adjusting an angle, direction, and launching speed of the mooring cable launching means so that the mooring cable reaches an object point when it is within a launching condition threshold, a restraining step S7 for moving the mooring cable from the object point for mooring to the mooring means, and a mooring cable state determination step S8-2 for applying tension to the mooring cable and determining whether extending length and tensile force is within a mooring state threshold for adjustment, and the vessel is automatically moored to the mooring means.SELECTED DRAWING: Figure 1
【課題】岸壁や桟橋に設けられている既存の係留手段に係留索を自動で繋げることのできる自動係船方法、及び自動係船システムを提供する。【解決手段】岸壁等の係留手段を認識して近接させ距離が距離閾値以内かを判断する距離判断ステップS2と、距離閾値以内の場合に係留索発射手段の係留手段に対する3次元的な位置のずれ及び角速度についての発射条件が発射条件閾値以内かを判断する発射条件判断ステップS4と、発射条件閾値以内の場合に対象点に係留索が到達するよう係留索発射手段の角度と方向及び発射速度を調整し係留索を発射する係留索発射ステップS6と、対象点から係留索を移動させて係留手段に係止させる係止ステップS7と、係留索に張力を付与し繰り出し長さ及び張力が係留索状態閾値以内かを判断し調整する係留索状態判断ステップS8-2を有し、船舶を係留手段に自動的に係船する。【選択図】図1
AUTOMATIC MOORING METHOD AND AUTOMATIC MOORING SYSTEM
自動係船方法、及び自動係船システム
2024-10-15
Patent
Electronic Resource
Japanese
IPC: | B63B Schiffe oder sonstige Wasserfahrzeuge , SHIPS OR OTHER WATERBORNE VESSELS |
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