METHOD OF GUIDING, MOORING AND UNMOORING SEA CARGO VESSEL IN AUTONOMOUS MODE AND METHOD OF OPERATING DIGITAL INSTRUMENTAL PLATFORM FOR MOTION CONTROL OF GROUP OF AUTONOMOUS TOWING VESSELS IN PORT WATER AREA Russian patent published in 2023 - IPC B63H25/04 G05D1/08 G08G3/00 G05B13/04 

FIELD: marine engineering.

SUBSTANCE: group of inventions relates to means for controlling the movement of a group of unmanned marine mobile objects intended for guiding, mooring a cargo ship to a trans-shipment terminal and unmooring from it, within a given water area. Guiding, mooring and unmooring are performed using a group of autonomous azimuth tug vessels, controlled remotely by a remote captain and through a digital instrumentation platform. A group of an even number of autonomous tugboats is sent to the escorted cargo vessel, each equipped with two azimuth rudder thrusters and two rotary mooring devices with magnetic mechanisms for rigid coupling of the autonomous tugboats with the hull of the escorted cargo vessel. The motion control coordinates are calculated. The near zone is analysed using automatic optical systems. Control commands are generated.

EFFECT: increased rate of changing the vessel's course, high-precision positioning of the vessel, and prevention of the vessel's impact against the terminal.

4 cl, 5 dwg