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http://dx.doi.org/10.7837/kosomes.2022.28.6.1036

A LiDAR-based Visual Sensor System for Automatic Mooring of a Ship  

Kim, Jin-Man (Ship Repair Supporting Center, Mokpo National Maritime University)
Nam, Taek-Kun (Division of Marine Engineering System, Mokpo National Maritime University)
Kim, Heon-Hui (Division of Marine Engineering System, Mokpo National Maritime University)
Publication Information
Journal of the Korean Society of Marine Environment & Safety / v.28, no.6, 2022 , pp. 1036-1043 More about this Journal
Abstract
This paper discusses about the development of a visual sensor that can be installed in an automatic mooring device to detect the berthing condition of a vessel. Despite controlling the ship's speed and confirming its location to prevent accidents while berthing a vessel, ship collision occurs at the pier every year, causing great economic and environmental damage. Therefore, it is important to develop a visual system that can quickly obtain the information on the speed and location of the vessel to ensure safety of the berthing vessel. In this study, a visual sensor was developed to observe a ship through an image while berthing, and to properly check the ship's status according to the surrounding environment. To obtain the adequacy of the visual sensor to be developed, the sensor characteristics were analyzed in terms of information provided from the existing sensors, that is, detection range, real-timeness, accuracy, and precision. Based on these analysis data, we developed a 3D visual module that can acquire information on objects in real time by conducting conceptual designs of LiDAR (Light Detection And Ranging) type 3D visual system, driving mechanism, and position and force controller for motion tilting system. Finally, performance evaluation of the control system and scan speed test were executed, and the effectiveness of the developed system was confirmed through experiments.
Keywords
Automatic Mooring; Visual Sensor; Tilt Motion Control System; LiDAR; ROS (robot operating system);
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Times Cited By KSCI : 1  (Citation Analysis)
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