Method and system for stabilising a vessel against a stationary structure

Abstract

There is provided systems and methods for stabilising a vessel against a stationary structure. Embodiments of the system include a sensor system, a processor, and a vessel control system. The processor is configured to determine a change in the position and/or motion of the waterborne vessel relative to the stationary structure based on sensor data, and to determine a minimum corrective force required to oppose the change. The minimum corrective force is then delivered by the vessel control system operable to stabilise the waterborne vessel relative to the stationary structure.

1 . A system for stabilising a waterborne vessel against a stationary structure, the system comprising:
 a sensor system for providing sensor data;   a processor configured to receive data from the sensor system, determine from the sensor data a change in the position and/or motion of the waterborne vessel relative to the stationary structure, and calculate a minimum corrective force required to oppose the change; and   a vessel control system operable to deliver the minimum corrective force and to thereby oppose the change in the position and/or motion of the waterborne vessel relative to the stationary structure.   
     
     
         2 . The system of  claim 1 , wherein the vessel control system comprises a propulsion system and a steering system. 
     
     
         3 . The system of  claim 2 , wherein the propulsion system includes an engine, a gearbox and a propeller. 
     
     
         4 . The system of  claim 2 , wherein the steering system comprises one or more control surfaces. 
     
     
         5 . The system of  claim 2 , further comprising a battery system in electrical communication with the vessel control system and operable to provide power to the propulsion system and/or steering system. 
     
     
         6 . The system of  claim 1 , wherein the waterborne vessel includes a hydrofoil having a plurality of adjustment members. 
     
     
         7 . The system of  claim 1 , wherein the processor is further configured to determine the current vessel operating conditions, including one or more of a sea state, a wind state, and a tide state, based on the sensor data. 
     
     
         8 . The system of  claim 1 , wherein the sensor system includes one or more vessel position sensors and one or more vessel motion sensors. 
     
     
         9 . The system of  claim 8 , wherein the vessel position sensors include one or more of a LIDAR, Ultrasonic distance sensor, GPS module, bow pressure sensor, or wind sensors. 
     
     
         10 . The system of  claim 8 , wherein the vessel motion sensors include an accelerometer or an inertia measurement unit (IMU). 
     
     
         11 . The system of  claim 1 , wherein the vessel control system is configured to deliver the minimum corrective force by adjusting the thrust delivered by a propulsion system to thereby urge a contact portion of the waterborne vessel against the stationary structure. 
     
     
         12 . The system of  claim 11 , wherein the contact portion of the vessel is a bow fender that includes a bow pressure sensor. 
     
     
         13 . The system of  claim 1 , wherein the engine comprises a Motor Generator Unit (MGU). 
     
     
         14 . A method for stabilising a waterborne vessel against a stationary structure, the method comprising:
 a) receiving sensor data from a sensor system;   b) determining, from the sensor data, a change in the position and/or motion of the waterborne vessel relative to the stationary structure;   c) calculating a minimum corrective force required to oppose the change;   d) adjusting the configuration of a vessel control system to deliver the minimum corrective force and to thereby oppose the change in the position and/or motion of the waterborne vessel relative to the stationary structure; and   e) repeating steps a) to d).   
     
     
         15 . The method of  claim 14 , wherein adjusting the configuration of the vessel control system to deliver the minimum corrective force comprises adjusting the thrust delivered by a propulsion system to thereby urge a contact portion of the waterborne vessel against the stationary structure. 
     
     
         16 . The method of  claim 14 , wherein adjusting the configuration of the vessel control system to deliver the minimum corrective force comprises adjusting one or more control surfaces of a steering system to deliver the minimum corrective force. 
     
     
         17 . The method of  claim 14 , wherein adjusting the configuration of the vessel control system to deliver the minimum corrective force comprises adjusting a propulsion system to deliver the minimum corrective force. 
     
     
         18 . The method of  claim 14 , wherein adjusting the configuration of the vessel control system to deliver the minimum corrective force comprises adjusting both a propulsion system and a steering system in order to deliver the minimum corrective force. 
     
     
         19 . The method of  claim 15 , wherein the contact portion of the vessel is a bow fender that includes a bow pressure sensor. 
     
     
         20 . The method of  claim 19 , further comprising issuing an alert if the contact force measured by the bow pressure sensor falls below a threshold value. 
     
     
         21 . The method of  claim 14 , further comprising determining, based on the sensor data, the minimum thrust delivered by a propulsion system required to maintain the vessel in a stable position relative to the stationary structure, and adjusting the configuration of the vessel control system to deliver the minimum thrust. 
     
     
         22 . The method of  claim 14 , further comprising determining, from the sensor data, the current vessel operating conditions, including one or more of a sea state, a wind state, and a tide state. 
     
     
         23 . The method of  claim 14 , wherein determining a change in position and/or motion of the waterborne vessel relative to the stationary structure is achieved by comparing sensor data to one or more predetermined thresholds.