KR20170089574A - System for managing obstacle of ship and method for managing obstacle - Google Patents
System for managing obstacle of ship and method for managing obstacle Download PDFInfo
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- KR20170089574A KR20170089574A KR1020160009952A KR20160009952A KR20170089574A KR 20170089574 A KR20170089574 A KR 20170089574A KR 1020160009952 A KR1020160009952 A KR 1020160009952A KR 20160009952 A KR20160009952 A KR 20160009952A KR 20170089574 A KR20170089574 A KR 20170089574A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B43/00—Improving safety of vessels, e.g. damage control, not otherwise provided for
- B63B43/18—Improving safety of vessels, e.g. damage control, not otherwise provided for preventing collision or grounding; reducing collision damage
- B63B43/20—Feelers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B49/00—Arrangements of nautical instruments or navigational aids
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
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- H04N5/225—
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
- B63B2035/006—Unmanned surface vessels, e.g. remotely controlled
- B63B2035/007—Unmanned surface vessels, e.g. remotely controlled autonomously operating
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- B63B2732/00—
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- Engineering & Computer Science (AREA)
- Ocean & Marine Engineering (AREA)
- Remote Sensing (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
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Abstract
Description
The present invention relates to an obstacle management system and an obstacle management method for a ship. More particularly, the present invention relates to an obstacle management system and an obstacle management method of a ship that receives various kinds of obstacles and signals located around an unmanned ship, The present invention relates to an obstacle management system and an obstacle management method of a ship, which can transmit a danger level of an obstacle determined by analyzing a surrounding image and a temperature obtained by changing a directional angle to an autonomous navigation module.
An unmanned vessel, ie a drone ship, refers to a ship capable of navigating a defined route automatically without a crew member and, if necessary, controlling the navigation and engine parts (eg, engines, rudder devices) in a remote control center .
On the other hand, a remote control center for remote maneuvering of unmanned vessels and fleet is needed on the ground. In order to solve technical problems and legal problems, the master and chief engineers must conduct direct command by the remote control center.
The above-mentioned unmanned ships are in a state of being filed in addition to Korean Registered Patent No. 0734814 (Jun. 27, 2007).
These unmanned vessels use the X-band and S-band radar to recognize the objects and directions of obstacles and identify them with the naked eye by referring to the AIS (Auto Identification System) In the case of night time, it is difficult to identify things, and there is a risk of navigation.
In addition, cameras for daytime and nighttime are produced. However, since the obstacle can not be automatically judged by using the images obtained through the camera, it is difficult to guarantee the safety of unmanned vessels without autonomous navigation.
On the other hand, a system for recognizing a peripheral obstacle of a ship is disclosed in Korean Patent Publication No. 1233698 (2013.02.06) and Korean Patent Registration No. 1457171 (Apr.
However, Korean Patent Registration No. 1233698 of the above-mentioned patents detects an obstacle by using only a motion sensor, and Korean Patent Registration No. 1457171 recognizes a dangerous object when the size of an object recognized by the camera becomes large, , It is necessary to avoid the object after recognizing the object, and in the case of the nighttime, it is difficult to identify the object and it is dangerous to navigate.
Therefore, it is applied to the unmanned ship, automatically recognize various kinds of obstacles and signals located in the vicinity of the ship, firstly detects the position of the obstacle, and obtains the high resolution image and temperature A system capable of transmitting the risk of the determined obstacle to the autonomous navigation module or the remote control module is required.
It is an object of the present invention to analyze a peripheral image and a temperature obtained by changing the directing angle of a camera module so as to receive various kinds of obstacles and signals located in the periphery of an unmanned ship under autonomous navigation and to match the position of an obstacle And to provide an obstacle management system and an obstacle management method of a ship in which the degree of danger of a determined obstacle can be transmitted to an autonomous navigation module.
According to an aspect of the present invention, there is provided an obstacle management method for an obstacle management system including a camera module for acquiring a peripheral image of an unmanned ship, and an autonomous navigation module for controlling autonomous navigation of the unmanned vessel, Receiving location message information of an obstacle measured from a radar installed on the unmanned vessel; Calculating a directivity angle of the camera module using a distance from the obstacle included in the location message information of the received obstacle; Determining a degree of danger of an obstacle based on the ambient image and temperature received from the camera module driven at the calculated orientation angle; And transmitting the degree of danger of the determined obstacle to the autonomous navigation module.
The calculating step estimates the altitude of the camera module using an altitude difference between the altitude received from the GPS receiver, the installed position of the GPS receiver, and the preset mounting position of the camera module, The orientation angle of the camera module can be calculated.
Also, the obstacle managing method according to an embodiment of the present invention may further include calculating radar degree of the radar using the radar received from the GPS receiver, the position difference between the GPS receiver and the radar, And calculating and storing the radius of the obstacle in the obstacle database by using the direction angle and the distance received from the computed radius of the radar and the position message information of the obstacle.
Further, the method of managing an obstacle according to an embodiment of the present invention may further include receiving message information of an obstacle provided from an AIS installed in the unmanned vessel after the receiving step, and the storing and managing step When the message information of the obstacle is received, the obstacle matching the obstacle of the obstacle included in the message information of the obstacle may be searched and the message information of the received obstacle may be mapped to the searched obstacle and stored in the obstacle database.
The method further includes applying an operation command to the fan motor and the tilt motor attached to the camera module to be driven at the calculated orientation angle after the calculating step can do.
Wherein the determining comprises: extracting an outline of the received peripheral image and pixels of the image; Estimating an area of the obstacle using the extracted outline and pixels of the image; Comparing the area of the obstacle with the obtained temperature with the obstacle classification information stored in the database to determine the type of the obstacle; And calculating a danger level of the obstacle based on the specific gravity set in the kind of the obstacle, the area of the estimated obstacle, and the relative speed of the obstacle.
Wherein calculating the degree of danger of the obstacle includes calculating azimuth and distance information with the obstacle received from the radar, message information of the obstacle received from the AIS, distance of the obstacle received by the camera module, The degree of danger of the obstacle can be calculated by reflecting high priority information.
Further, the method of managing an obstacle according to an embodiment of the present invention includes: after the transmitting step, receiving a risk of the obstacle and displaying an obstacle within a certain distance on the display unit; And providing the image information obtained through the camera module to the display unit when a specific obstacle among the displayed obstacles is selected.
The displaying step may display the obstacles displayed on the display unit in a descending order of the degree of risk among obstacles located within a predetermined distance from the unmanned vessel.
According to another embodiment of the present invention, there is provided an obstacle management system including a camera module for acquiring a peripheral image of an unmanned ship, and an autonomous navigation module for controlling autonomous navigation of the unmanned vessel, And a controller for receiving the positional message information of the measured obstacles and determining the position of the obstacle through the ambient image and the temperature received from the camera module driven by the calculated direction angle using the distance to the obstacle included in the positional message information of the received obstacle And a central processing module for determining the degree of danger and transmitting the degree of danger of the determined obstacle to the self-navigation module.
The central processing module estimates the altitude of the camera module using the altitude difference between the altitude received from the GPS receiver, the installed position of the GPS receiver, and the preset mounting position of the camera module, and calculates a distance between the estimated altitude and the obstacle The orientation angle of the camera module can be calculated.
The central processing module calculates a radius of the radar using the radar received from the GPS receiver, the position difference between the GPS receiver and the radar, calculates the radius of the calculated radar, and the direction received from the positional message information of the obstacle It is possible to store and manage the obstacle database in the obstacle database by estimating the radius of the obstacle using the angle and the distance.
When the central processing module receives message information of an obstacle provided from the AIS installed on the unmanned vessel, the central processing module searches for an obstacle that matches the diameter of the obstacle included in the message information of the obstacle, Can be mapped and stored.
The central processing module extracts the outline of the received peripheral image and pixels of the image, estimates the area of the obstacle by using the extracted outline and the pixels of the image, and calculates the area of the obstacle estimated and the obtained temperature to the database The type of the obstacle is compared with the stored obstacle classification information, and the degree of danger of the obstacle can be calculated using the specific weight set for the type of the obstacle, the area of the estimated obstacle, and the relative speed of the obstacle .
Wherein the central processing module comprises: azimuth and distance information with the obstacles received from the radar; message information of the obstacles received from the AIS; distances of the obstacles received by the camera module; an azimuth angle between the unmanned vessel and the obstacle; The degree of danger of the obstacle can be calculated by reflecting the high information.
In addition, the obstacle management system according to another embodiment of the present invention receives the risk of the obstacle and displays an obstacle within a certain distance on the display unit, and when a specific obstacle is selected from the displayed obstacle, And a remote control module for providing information on the display unit.
The remote control module may display the obstacles displayed on the display unit in a descending order of the number of obstacles located within a predetermined distance from the ship.
According to the embodiment of the present invention, various types of obstacles and signals located around the unmanned ship during autonomous navigation are received and the orientation and angle of the camera module are changed so that the camera module is aligned with the position of the obstacle. And the degree of danger of the obstacle determined by the obstacle can be transmitted to the autonomous navigation module. Accordingly, it is possible to make decisions such as avoiding obstacles and rescue operations of drift ships. It also improves navigation stability by communicating the danger level of obstacles to the on-ground control center where the remote control module is installed.
1 is a block diagram for explaining an obstacle management system for a ship according to an embodiment of the present invention;
FIG. 2 is a block diagram for explaining a camera module shown in FIG. 1;
FIG. 3 is a block diagram for explaining the central processing module shown in FIG. 1;
FIG. 4 is a block diagram for explaining the remote control module shown in FIG. 1;
5 is an operational flowchart for explaining an obstacle management method using a system for managing a vessel's vessel according to an embodiment of the present invention, and
FIG. 6 is a view showing a screen for monitoring the position of an obstacle based on an unmanned ship. FIG.
Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.
FIG. 1 is a block diagram illustrating a ship obstacle management system according to an embodiment of the present invention. FIG. 2 is a block diagram for explaining a camera module shown in FIG. 1, FIG. 4 is a block diagram for explaining the remote control module shown in FIG. 1. Referring to FIG.
Referring to FIG. 1, a ship obstacle management system according to an embodiment of the present invention includes a
The obstacle management system of the vessel shown in FIG. 1 is a dangerous environment notification system applied to an unmanned vessel capable of autonomous operation, and may be applied to a manned vessel. For manned ships, the degree of danger of the obstacle can be provided to the main controller installed in the control room.
Hereinafter, the description will be limited to an unmanned ship.
The
2, the
The first and
The
The
At this time, the radar 4 emits radio waves of X band or S band and uses RADAR, which is an apparatus for estimating the existence and distance of an obstacle, And ARPA that provides information related to collision such as TCPA, but it is preferably used as ARPA.
The
The
The
The AIS (3) receives message information of obstacles including other ships operating around the unmanned ship through VHF communication. Here, the message information of the obstacle is, for example, one of NMEA0183 messages received from the AIS (3), and consists of a predetermined protocol, for example, an encryption message according to the ITU-R M1371 protocol. The message information of such an obstacle includes Maritime Mobile Service Identity (MMSI) of the target vessel, target ship name, ship type, size, position, speed, a player's direction, route, loading status, shipment and destination.
The
When the message information of the obstacle provided from the
The
That is, immediately after receiving the message information of the obstacle provided in the
Thereafter, the
The
The degree of danger of the obstacle is determined by the message information of the obstacle received from the
Formulae
Here, TTM is the location message information of the obstacle received from the radar 4, TLL is the radius information of the obstacle received from the radar 4, and VDM is the message information of the obstacle received from the
3, the
The image format changing unit 20a compresses the format of the image file received from the
The remote
The
In addition, the
The
The
The
The coordinate
More precisely, the coordinate
The
The second communication unit 20i is a means for communicating with the remote control module 4 to transmit the degree of danger of the obstacle to the
The
The
The
Referring to FIG. 4, the
The
A controller (not shown) included in the
In addition, the controller included in the
The
Also, the
The
5 is a flowchart illustrating an obstacle management method using an obstacle management system of a ship according to an embodiment of the present invention.
Referring to FIG. 5, the
The
If it is determined in step S13 that the location message information of the obstacle is not received, the
If it is determined in step S16 that there is no change in the phase of the surrounding image, the
If it is determined in step S16 that there is a phase change of the peripheral image, the
The
As a result of the determination in step S13, when the location message information of the obstacle is received, the
Although it is described in the present embodiment that step S13 is performed after step S13, the
Accordingly, the
Thereafter, the
The
The
The
The
The
The
The
Here, when the relative speed is negative, V = 0 is set.
The
When the identification information of the selected obstacle among the obstacles displayed on the
By doing so, it is possible not only to improve the safety of navigation by grasping the types and areas of various obstacles during unmanned large-sized ship operation and transmitting the information to the
The invention being thus described, it will be obvious that the same way may be varied in many ways. Such modifications are intended to be within the spirit and scope of the invention as defined by the appended claims.
1: GPS receiver 2: COMPASS
3: AIS 4: Radar
10: camera module 20: central processing module
30: Interface module 40: Remote control module
50: Self-service module
Claims (17)
Receiving location message information of an obstacle measured from a radar installed on the unmanned vessel;
Calculating a directivity angle of the camera module using a distance from the obstacle included in the location message information of the received obstacle;
Determining a degree of danger of an obstacle based on the ambient image and temperature received from the camera module driven at the calculated orientation angle; And
And transmitting the risk level of the determined obstacle to the autonomous navigation module.
The calculating step estimates the altitude of the camera module using an altitude difference between the altitude received from the GPS receiver, the installed position of the GPS receiver, and the preset mounting position of the camera module, Wherein the orientation angle of the camera module is calculated using the angle of view of the camera module.
After the receiving step,
Calculating a radar radar magnitude using a radar received from a GPS receiver, a position difference between the GPS receiver and the radar, calculating a radius of the radar and a direction angle and a distance received from the positional message information of the obstacle Further comprising the steps of: estimating a degree of a barycenter of the obstacle and storing and managing the degree of barycenter of the obstacle in an obstacle database.
After the receiving step,
Further comprising receiving message information of an obstacle provided from an AIS installed on the unmanned vessel,
The storing and managing step
When the message information of the obstacle is received, searches for an obstacle that matches the diameter of the obstacle included in the message information of the obstacle, maps the message information of the received obstacle to the searched obstacle, and stores the mapped information in the obstacle database How to manage obstacles.
After the calculating step,
Further comprising the step of applying an operation command to the fan motor and the tilt motor attached to the camera module so as to be driven at the calculated orientation angle.
The step of determining
Extracting an outline of the received peripheral image and pixels of the image;
Estimating an area of the obstacle using the extracted outline and pixels of the image;
Comparing the area of the obstacle with the obtained temperature with the obstacle classification information stored in the database to determine the type of the obstacle; And
And calculating a danger level of the obstacle based on the specific weight set in the kind of the obstacle, the area of the estimated obstacle, and the relative speed of the obstacle.
Wherein calculating the degree of danger of the obstacle includes calculating azimuth and distance information with the obstacle received from the radar, message information of the obstacle received from the AIS, distance of the obstacle received by the camera module, Wherein the degree of danger of the obstacle is calculated by reflecting information having high priority set in advance.
After the transmitting step,
Receiving a risk of the obstacle and displaying an obstacle within a certain distance on the display unit; And
Further comprising providing the image information obtained through the camera module on the display unit when a specific obstacle is selected from the displayed obstacles.
The step of displaying
And displaying the obstacles displayed on the display unit in a descending order of the number of obstacles located within a predetermined distance from the unmanned vessel.
And a controller for receiving the position message information of the obstacle measured from the radar installed on the unmanned vessel and detecting the position of the obstacle in the vicinity of the obstacle received from the camera module driven at the calculated direction using the distance to the obstacle included in the position message information of the received obstacle And a central processing module for determining the degree of danger of the obstacle through the image and the temperature, and transmitting the degree of danger of the determined obstacle to the autonomous navigation module.
The central processing module estimates the altitude of the camera module using the altitude difference between the altitude received from the GPS receiver, the installed position of the GPS receiver, and the preset mounting position of the camera module, and calculates a distance between the estimated altitude and the obstacle Wherein the directional angle of the camera module is calculated using the angle of view of the camera module.
The central processing module calculates a radius of the radar using the radar received from the GPS receiver, the position difference between the GPS receiver and the radar, calculates the radius of the calculated radar, and the direction received from the positional message information of the obstacle And estimating a degree of a degree of the obstacle by using angles and distances to store and manage the obstacle in the obstacle database.
When the central processing module receives message information of an obstacle provided from the AIS installed on the unmanned vessel, the central processing module searches for an obstacle that matches the diameter of the obstacle included in the message information of the obstacle, And stores the mapped map data.
The central processing module extracts the outline of the received peripheral image and pixels of the image, estimates the area of the obstacle by using the extracted outline and the pixels of the image, and calculates the area of the obstacle estimated and the obtained temperature to the database The type of the obstacle is compared with the stored obstacle classification information, and the degree of danger of the obstacle is calculated using the specific weight set for the type of the obstacle, the area of the estimated obstacle, and the relative speed of the obstacle Characterized by an obstacle management system.
Wherein the central processing module comprises: azimuth and distance information with the obstacles received from the radar; message information of the obstacles received from the AIS; distances of the obstacles received by the camera module; an azimuth angle between the unmanned vessel and the obstacle; Wherein the degree of danger of the obstacle is calculated by reflecting high information of the obstacle.
Further comprising a remote control module for receiving the risk of the obstacle and displaying an obstacle within a certain distance on the display part and providing the image information received through the camera module to the display part when a specific obstacle among the displayed obstacles is selected The fault management system comprising:
Wherein the remote control module distinguishes and displays the obstacles displayed on the display unit in descending order of the degree of risk among obstacles located within a predetermined distance from the ship.
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KR20210136807A (en) * | 2020-05-08 | 2021-11-17 | 주식회사 아비커스 | support system for vessel operation and ship having the same |
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