TWI670470B - Marine unmanned ship navigation channel correction system and method - Google Patents
Marine unmanned ship navigation channel correction system and method Download PDFInfo
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Abstract
本發明係提供一種海上無人船舶航道修正系統，包括：時空資訊處理模組用以收集外在環境資訊與時空資訊；航道規劃模組與時空資訊處理模組電性連接，用以計算出標準航道；危害因子迴避模組與時空資訊處理模組電性連接，用以產出航行安全區域；航道航行計算模組與時空資訊處理模組電性連接，用以計算船舶可航行之最低限度轉彎角度；以及電子地圖模組與危害因子迴避模組、航道航行計算模組及航道規劃模組電性連接，用以產出修正航道，使無人船舶具備即時性、獨立性、安全性的海上無人船舶導航技術之目的。 The invention provides a seaway unmanned ship navigation channel correction system, which comprises: a space-time information processing module for collecting external environmental information and space-time information; a channel planning module and a space-time information processing module are electrically connected to calculate a standard channel The hazard factor avoidance module is electrically connected to the spatio-temporal information processing module for generating a safe navigation area; the navigational navigation calculation module is electrically connected with the spatio-temporal information processing module to calculate the minimum turning angle of the ship's navigation. And the electronic map module is electrically connected with the hazard factor avoidance module, the navigational navigation calculation module and the channel planning module to generate the modified navigation channel, so that the unmanned ship has the immediacy, independence and safety of the unmanned marine vessel. The purpose of navigation technology.
Description
本發明係有關於一種海上無人船舶航道修正系統及方法，更詳而言之，尤指一種基於電子地圖之海上無人船舶航道修正系統及方法。 The invention relates to a seaway unmanned ship navigation channel correction system and method, in more detail, in particular to an electronic map based sea unmanned ship navigation channel correction system and method.
目前航行導航技術可分成近端操控與遠端遙控二種。例如：屬於近端操控導航技術的車用導航設備，其用於直接操控載具，可提供操控者即時觀看導航系統並執行載具運動。另外，屬於遠端遙控導航技術的遠端無人機導航系統，其用於遙控載具，可提供操控者即時觀看導航系統並藉由資料鏈路傳輸至載具以執行運動。 At present, navigation navigation technology can be divided into two types: near-end control and remote control. For example, a car navigation device belonging to the near-end navigation technology for directly controlling the vehicle can provide the controller with instant view of the navigation system and perform vehicle movement. In addition, the remote drone navigation system belonging to the remote remote navigation technology is used for the remote control vehicle, and provides the controller with instant view of the navigation system and transmission to the vehicle through the data link to perform the motion.
以往導航系統只對航路之地形或路線進行航路規劃，無法即時反應動態狀況。此外，當載具航行路線存在一未知障礙物時，載具只能依靠使用者操作以避開危險區域，無法實現無人操作。 In the past, the navigation system only planned the route of the route or route of the route, and could not immediately respond to the dynamic situation. In addition, when there is an unknown obstacle in the vehicle's navigation route, the vehicle can only rely on the user's operation to avoid the dangerous area, and no one can operate.
再者，目前航行導航技術常見於陸/空載具中，但海上無人船舶無相關導航專利，且海上狀況更為複雜常有操控者無法肉眼辨識的危險因子，雖有使用電子地圖作為顯示之圖台，但未有考慮未知障礙物之航路修正技術。因此極需一 種具備即時性、獨立性、安全性的海上無人船舶導航技術。 Furthermore, navigation navigation technology is commonly used in land/air vehicles, but offshore unmanned ships have no relevant navigation patents, and the sea conditions are more complicated. There are often risk factors that the controller cannot identify with the naked eye, although electronic maps are used for display. Platform, but there is no route correction technique that considers unknown obstacles. Therefore, it is extremely necessary An unmanned marine navigation technology with immediacy, independence and security.
緣是，發明人有鑑於此，秉持多年該相關行業之豐富設計開發及實際製作經驗，針對現有之技術及缺失予以研究改良，提供一種海上無人船舶航道修正系統，以期達到更佳實用價值性之目的者。 The reason is that the inventor has, in view of this, upholding the rich experience in design, development and actual production of the relevant industry for many years, researching and improving the existing technologies and deficiencies, and providing a sealess unmanned ship navigation channel correction system, in order to achieve better practical value. Target person.
鑒於上述習知技術之缺點，本發明主要之目的在於提供一種海上無人船舶航道修正方法，將航道規劃、即時情資整合與快速航道修正等功能，整合於電子地圖中，使無人船舶具備即時性、獨立性、安全性的海上無人船舶導航技術之目的。 In view of the above-mentioned shortcomings of the prior art, the main purpose of the present invention is to provide a method for correcting the navigation channel of an unmanned marine vessel, integrating navigation channel planning, real-time situation integration and rapid channel correction into an electronic map, so that the unmanned ship is immediacy. The purpose of independent, safe and safe navigation technology for unmanned ships at sea.
為達上述目的，本發明係提供一種海上無人船舶航道修正方法，其步驟包括：於航行前，透過一航道規劃模組接收一時空資訊處理模組所傳輸之當前位置、目標點之位置資訊及地形因子、沉船機率、天候因子之已知資訊，以使一電子地圖模組規劃至少一標準航道；於航行中，該時空資訊處理模組持續收集外在環境資訊與時空資訊；透過一危害因子迴避模組接收該時空資訊處理模組所傳輸於當前位置附近區域的沉船機率、暗礁、其他船隻及障礙物之風險資訊，以產出一航行安全區域；透過一航道航行計算模組接收該時空資訊處理模組所傳輸之航速、航向之轉彎參數，以計算船舶可航行之一最低限度轉彎角度；以及透過一電子地圖模組接收該危害 因子迴避模組、該航道航行計算模組及該航道規劃模組所傳輸之該至少一標準航道、該航行安全區域、該最低限度轉彎角度，以產出一修正航道。 In order to achieve the above object, the present invention provides a method for correcting a navigation channel of an unmanned marine vessel, the method comprising: receiving a current position and a position information of a target point transmitted by a time and space information processing module through a channel planning module before sailing Known information on terrain factor, shipwreck probability, weather factor, so that an electronic map module can plan at least one standard channel; during navigation, the space-time information processing module continuously collects external environmental information and spatio-temporal information; The avoidance module receives the risk information of the shipwreck probability, the reef, other vessels and obstacles transmitted by the space-time information processing module in the vicinity of the current location to generate a navigation safety zone; and receives the time and space through a navigational navigation calculation module The turning speed and heading turning parameters transmitted by the information processing module to calculate a minimum turning angle of the ship's navigation; and receiving the hazard through an electronic map module The factor avoidance module, the channel navigation calculation module, and the at least one standard channel, the navigation safety zone, and the minimum turning angle transmitted by the channel planning module to generate a modified channel.
基於上述可快速執行航道規劃之航道即時修正方法，本發明設計一種海上無人船舶航道修正系統，其包括：一時空資訊處理模組，係用以收集外在環境資訊與時空資訊；一航道規劃模組，係與該時空資訊處理模組電性連接，用以計算出一標準航道；一危害因子迴避模組，係與該時空資訊處理模組電性連接，用以產出一航行安全區域；一航道航行計算模組，係與該時空資訊處理模組電性連接，用以計算船舶可航行之最低限度轉彎角度；以及一電子地圖模組，係與該危害因子迴避模組、該航道航行計算模組及該航道規劃模組電性連接，用以產出一修正航道。 Based on the above-mentioned method for instantaneously correcting the channel for rapid execution of the channel planning, the present invention provides a sea-based unmanned ship channel correction system, which comprises: a time-space information processing module for collecting external environmental information and space-time information; The group is electrically connected to the space-time information processing module for calculating a standard channel; a hazard factor avoidance module is electrically connected to the space-time information processing module to generate a navigation safety area; A navigational navigation calculation module is electrically connected to the space-time information processing module for calculating a minimum turning angle of the ship's navigation; and an electronic map module is associated with the hazard avoidance module and the navigation channel The computing module and the channel planning module are electrically connected to generate a modified channel.
較佳地，該時空資訊處理模組可包括處理器、GPS、雷達、航速感測器、航向感測器。 Preferably, the spatiotemporal information processing module may include a processor, a GPS, a radar, a speed sensor, and a heading sensor.
較佳地，該航道規劃模組可接收該時空資訊處理模組所傳輸之目標點、當前位置之位置資訊及地形因子、沉船機率、天候因子之已知資訊。 Preferably, the channel planning module can receive the target point transmitted by the space-time information processing module, the location information of the current location, and the known information of the terrain factor, the shipwreck probability, and the weather factor.
較佳地，該危害因子迴避模組可接收該時空資訊處理模組所傳輸於當前航道上附近區域的沉船機率、暗礁、其他船隻及障礙物之風險資訊。 Preferably, the hazard avoidance module can receive the risk information of the shipwreck probability, the reef, other vessels and obstacles transmitted by the spatio-temporal information processing module in the vicinity of the current channel.
較佳地，該航道航行計算模組可接收該時空資訊 處理模組所傳輸之航速、航向之轉彎參數。 Preferably, the channel navigation calculation module can receive the time and space information The turning parameters of the speed and heading transmitted by the processing module.
以上，本發明提出之即時航路修正系統於陸、空領域雖有相關之應用，但缺乏於航海領域之應用，故「導控」與「航路規劃」等概念已於其他領域中證明其可行性，本發明將導控系統中之特色，融入航海情境中，並加以修改，使其適用於海上環境。 As described above, although the instant route correction system proposed by the present invention has related applications in the land and air field, but lacks application in the navigation field, concepts such as "guidance control" and "route planning" have proved its feasibility in other fields. The invention integrates the characteristics of the guidance and control system into the navigation situation and modifies it to make it suitable for the marine environment.
以上之概述與接下來的詳細說明及附圖，皆是為了能進一步說明本創作達到預定目的所採取的方式、手段及功效。而有關本創作的其他目的及優點，將在後續的說明及圖式中加以闡述。 The above summary and the following detailed description and drawings are intended to further illustrate the manner, means and effects of the present invention in achieving its intended purpose. Other purposes and advantages of this creation will be explained in the following description and drawings.
1‧‧‧時空資訊處理模組 1‧‧‧Time and Space Information Processing Module
2‧‧‧航道規劃模組 2‧‧‧ Channel Planning Module
3‧‧‧危害因子迴避模組 3‧‧‧Hazard Factor Avoidance Module
4‧‧‧航道航行計算模組 4‧‧‧Channel Navigation Calculation Module
5‧‧‧電子地圖模組 5‧‧‧Electronic map module
6‧‧‧航道資料傳送模組 6‧‧‧Channel data transmission module
7‧‧‧船舶 7‧‧‧Ship
11‧‧‧當前位置 11‧‧‧ current location
12‧‧‧目標點 12‧‧‧ Target point
20‧‧‧標準航道 20‧‧‧standard channel
30‧‧‧航行安全區域 30‧‧‧Sail safe area
40‧‧‧修正航道 40‧‧‧Revised channel
S1-S5‧‧‧步驟 S1-S5‧‧‧ steps
第1圖係為本發明海上無人船舶航道修正系統示意圖。 The first figure is a schematic diagram of the seaway unmanned ship navigation channel correction system of the present invention.
第2圖係為本發明海上無人船舶航道修正方法步驟流程圖。 Figure 2 is a flow chart showing the steps of the method for correcting the navigation path of the unmanned marine vessel of the present invention.
第3圖係為本發明海上無人船舶航道修正方法執行示意圖。 The third figure is a schematic diagram of the execution method of the navigation method of the marine unmanned ship in the present invention.
第4圖係為本發明海上無人船舶航道修正方法執行示意圖 Figure 4 is a schematic diagram of the method for correcting the navigation path of the unmanned marine vessel of the present invention.
第5圖係為本發明海上無人船舶航道修正方法執行示 意圖。 Figure 5 is a diagram showing the implementation of the correction method for the navigation channel of the unmanned marine vessel of the present invention. intention.
以下係藉由特定的具體實例說明本發明之實施方式，熟悉此技藝之人士可由本說明書所揭示之內容瞭解本發明之其他優點與功效。 The embodiments of the present invention are described below by way of specific examples, and those skilled in the art can understand the other advantages and advantages of the present invention from the disclosure.
請參閱第1圖至第5圖，第1圖係為本發明海上無人船舶航道修正系統示意圖。第2圖係為本發明海上無人船舶航道修正方法步驟流程圖。如圖所示，一種海上無人船舶航道修正方法，其步驟包括：步驟S1：於航行前，透過航道規劃模組2接收時空資訊處理模組1所傳輸之當前位置11、目標點12之位置資訊及地形因子、沉船機率、天候因子之已知資訊，以使電子地圖模組5規劃至少一標準航道20。步驟S2：於航行中，時空資訊處理模組1持續收集外在環境資訊與時空資訊，而外在環境資訊與時空資訊包括位置資訊、已知資訊、風險資訊、轉彎參數。步驟S3：透過危害因子迴避模組3接收時空資訊處理模組1所傳輸於當前位置11附近區域的沉船機率、暗礁、其他船隻及障礙物之風險資訊，以產出航行安全區域30。步驟S4：透過航道航行計算模組4接收時空資訊處理模組1所傳輸之航速、航向之轉彎參數，以計算船舶7可航行之最低限度轉 彎角度，而最低限度轉彎角度之計算更可包括船舶7與障礙物間之距離、水深等參數，使最低限度轉彎角度更加準確。步驟S5：透過電子地圖模組5接收危害因子迴避模組3、航道航行計算模組4及航道規劃模組2所傳輸之至少一標準航道20、航行安全區域30、最低限度轉彎角度，以產出修正航道40。 Please refer to Fig. 1 to Fig. 5, which is a schematic diagram of the navigation system of the marine unmanned ship in the present invention. Figure 2 is a flow chart showing the steps of the method for correcting the navigation path of the unmanned marine vessel of the present invention. As shown in the figure, a method for correcting a navigation channel of an unmanned marine vessel includes the following steps: Step S1: Receiving the position information of the current position 11 and the target point 12 transmitted by the space-time information processing module 1 through the channel planning module 2 before sailing And the known information of the terrain factor, the shipwreck probability, and the weather factor, so that the electronic map module 5 plans at least one standard channel 20. Step S2: During the voyage, the spatio-temporal information processing module 1 continuously collects external environmental information and spatio-temporal information, while the external environmental information and spatio-temporal information include location information, known information, risk information, and turning parameters. Step S3: The hazard factor avoidance module 3 receives the risk information of the shipwreck probability, the reef, other vessels and obstacles transmitted by the spatio-temporal information processing module 1 in the vicinity of the current location 11 to generate the navigation safety zone 30. Step S4: receiving the turning speed and heading turning parameters transmitted by the spatio-temporal information processing module 1 through the channel navigation calculation module 4 to calculate the minimum turning of the ship 7 The bending angle, and the calculation of the minimum turning angle can include parameters such as the distance between the ship 7 and the obstacle, the water depth and the like, so that the minimum turning angle is more accurate. Step S5: receiving at least one standard channel 20, navigation safety area 30, and minimum turning angle transmitted by the hazard factor avoidance module 3, the channel navigation calculation module 4, and the channel planning module 2 through the electronic map module 5 Correct the channel 40.
另請參閱第2圖至第5圖，第3圖係為本發明海上無人船舶航道修正方法執行示意圖。第4圖係為本發明海上無人船舶航道修正方法執行示意圖。第5圖係為本發明海上無人船舶航道修正方法執行示意圖。於航行前，透過航道規劃模組2接收時空資訊處理模組1所傳輸之當前位置11、目標點12之位置資訊及地形因子、沉船機率、天候因子之已知資訊，以使電子地圖模組5規劃至少一標準航道20，其中時空資訊處理模組1可藉由GPS獲得位置資訊，及可藉由外部電腦定期更新儲存於處理器的已知資訊，或藉由船舶自動識別系統(AIS)接收站來取得已知資訊。如第3圖所示，航道規劃模組2取得當前位置11與目標點12之間的連線附近5公里(不以5公里為限，能依使用者需求來設定，設定範圍越大耗時越久，但能得知較大範圍的資訊)海域的地形因子、沉船機率、天候因子等已知資訊，若附近5公里海域為不安全海域，則在擴大5公里取得更遠海域的已知資訊，直到取得安全海域為止，而電子地圖模組5將取得的安全海域連線規劃出至少一標準航道20，如第4圖所示，一條有轉折的標準航道20，其避開已知的危險海域。 Please also refer to Fig. 2 to Fig. 5, which is a schematic diagram of the execution method of the navigation method for the unmanned marine vessel of the present invention. Fig. 4 is a schematic view showing the execution method of the seaway unmanned ship navigation channel of the present invention. Figure 5 is a schematic diagram of the execution method of the navigation channel for the unmanned marine vessel of the present invention. Before the voyage, the channel planning module 2 receives the current position 11 transmitted by the space-time information processing module 1, the position information of the target point 12, and the known information of the terrain factor, the shipwreck probability, and the weather factor to make the electronic map module 5 planning at least one standard channel 20, wherein the space-time information processing module 1 can obtain location information by using GPS, and can periodically update known information stored in the processor by an external computer, or by an automatic ship identification system (AIS) Receive stations to get known information. As shown in Fig. 3, the channel planning module 2 obtains 5 kilometers near the connection between the current position 11 and the target point 12 (not limited to 5 kilometers, which can be set according to user requirements, and the setting range is larger and time consuming. The longer the time, but the larger information, the known information such as the topographic factor, shipwreck probability, and weather factor of the sea area. If the nearby 5km sea area is unsafe, then the known information of the farther sea area will be expanded by 5 kilometers. Until the safe sea area is obtained, the electronic map module 5 plans at least one standard waterway 20 to obtain the safe sea area connection. As shown in FIG. 4, a standard waterway 20 with a turning point avoids the known danger. Sea area.
請參閱第5圖所示，於航行中，時空資訊處理模組1持續收集外在環境資訊與時空資訊，並透過危害因子迴避模組3接收時空資訊處理模組1所傳輸於當前位置11附近半徑5公里區域的沉船機率、暗礁、其他船隻及障礙物等風險資訊，以產出航行安全區域30，若當前位置11附近半徑5公里區域為不安全區域，則在擴大半徑5公里取得更遠海域的風險資訊，直至產出航行安全區域30，例如第5圖擴大至半徑15公里才取得航行安全區域30，其中時空資訊處理模組1可藉由處理器、GPS、雷達取得當前位置11附近區域的風險資訊，或藉由處理器與船舶自動識別系統(AIS)接收站連線來取得風險資訊。接著，透過航道航行計算模組4接收時空資訊處理模組1所傳輸之航速、航向之轉彎參數，以計算船舶7可航行之最低限度轉彎角度，但不以此為限，最低限度轉彎角度之計算更可包括船舶7與障礙物間之距離、水深等參數，使最低限度轉彎角度更加準確，可避免無人船航行航道與原航道偏差太大造成燃油不足，其中時空資訊處理模組1可藉由航速感測器、航向感測器取得轉彎參數。最後，透過電子地圖模組5接收危害因子迴避模組3、航道航行計算模組4及航道規劃模組2所傳輸之至少一標準航道20、航行安全區域30、最低限度轉彎角度，以產出修正航道40。 Please refer to Figure 5, during the voyage, the space-time information processing module 1 continuously collects external environmental information and spatio-temporal information, and transmits the space-time information processing module 1 to the vicinity of the current location 11 through the hazard factor avoidance module 3. Risk information such as shipwreck probability, reefs, other vessels and obstacles in a radius of 5 km to produce a safe navigation zone 30. If the radius of 5 km near the current location 11 is an unsafe zone, the radius is increased by 5 km. The risk information of the sea area is up to the navigation safety zone 30, for example, the figure 5 is expanded to a radius of 15 kilometers to obtain the navigation safety zone 30, wherein the space-time information processing module 1 can obtain the current position 11 by the processor, GPS, and radar. Regional risk information, or through the processor and the ship's Automatic Identification System (AIS) receiving station connection to obtain risk information. Then, the navigational calculation module 4 receives the turning speed and heading turning parameters transmitted by the spatio-temporal information processing module 1 to calculate the minimum turning angle that the ship 7 can sail, but not limited thereto, and the minimum turning angle The calculation can further include the distance between the ship 7 and the obstacle, the water depth and other parameters, so that the minimum turning angle is more accurate, and the fuel shortage of the unmanned ship sailing channel and the original channel can be avoided, and the space-time information processing module 1 can borrow The turning parameters are obtained by the speed sensor and the heading sensor. Finally, the at least one standard channel 20, the navigation safety zone 30, and the minimum turning angle transmitted by the hazard factor avoidance module 3, the channel navigation calculation module 4, and the channel planning module 2 are received through the electronic map module 5 to output Correct the channel 40.
在本實施例中，時空資訊處理模組1可包括處理器、GPS、雷達、攝影機、紅外線感測器、航速感測器、航向 感測器，用以取得影像、航路水深、溫度、日照、其他船隻、障礙物、航速、航向、當前位置11及目標點12等的位置資訊、已知資訊、風險資訊、轉彎參數。另外，時空資訊處理模組1可藉由處理器與船舶自動識別系統(AIS)接收站連線來取得已知資訊、風險資訊。 In this embodiment, the spatiotemporal information processing module 1 may include a processor, a GPS, a radar, a camera, an infrared sensor, a speed sensor, and a heading. The sensor is used to obtain position information, known information, risk information, and turning parameters of images, route depth, temperature, sunshine, other vessels, obstacles, speed, heading, current position 11 and target point 12. In addition, the spatio-temporal information processing module 1 can obtain known information and risk information by connecting the processor to the ship automatic identification system (AIS) receiving station.
另外，基於上述可快速執行航道規劃之航道即時修正方法，本發明設計一種海上無人船舶7航道修正系統，如第2圖所示，其包括：時空資訊處理模組1，係用以收集外在環境資訊與時空資訊。航道規劃模組2與時空資訊處理模組1電性連接，用以計算出標準航道20。危害因子迴避模組3與時空資訊處理模組1電性連接，用以產出航行安全區域30。航道航行計算模組4與時空資訊處理模組1電性連接，用以計算船舶7可航行之最低限度轉彎角度。電子地圖模組5與危害因子迴避模組3、航道航行計算模組4及航道規劃模組2電性連接，用以產出修正航道40，以及航道資料傳送模組6(例如4G網路、藍芽等通訊技術)將修正航道40的控制命令傳輸至船舶7以控制馬達調整航向和航速至修正航道40上航行。 In addition, based on the above-mentioned method for instantaneous correction of the channel that can quickly perform the channel planning, the present invention designs a seaway unmanned ship 7 channel correction system, as shown in FIG. 2, which includes: a space-time information processing module 1 for collecting external Environmental information and time and space information. The channel planning module 2 is electrically connected to the space-time information processing module 1 for calculating the standard channel 20. The hazard factor avoidance module 3 is electrically connected to the spatio-temporal information processing module 1 for generating the navigation safety zone 30. The channel navigation calculation module 4 is electrically connected to the space-time information processing module 1 for calculating the minimum turning angle that the ship 7 can sail. The electronic map module 5 is electrically connected to the hazard avoidance module 3, the channel navigation calculation module 4 and the channel planning module 2 for generating the modified channel 40 and the channel data transmission module 6 (for example, a 4G network, The communication technology such as Bluetooth transmits the control command of the modified channel 40 to the ship 7 to control the motor to adjust the heading and the speed to navigate on the modified channel 40.
綜上所述，本發明利用將航道規劃、即時情資整合與快速航道修正等功能，整合於電子地圖中，使無人船舶7具備即時性、獨立性、安全性的海上無人船舶7導航技術之目的。 In summary, the present invention integrates navigation channel planning, real-time situation integration and fast channel correction functions into an electronic map, so that the unmanned ship 7 has the immediacy, independence, and safety of the unmanned marine vessel 7 navigation technology. purpose.
上述之實施例僅為例示性說明本發明之特點及 其功效，而非用於限制本發明之實質技術內容的範圍。任何熟習此技藝之人士均可在不違背本發明之精神及範疇下，對上述實施例進行修飾與變化。因此，本發明之權利保護範圍，應如後述之申請專利範圍所列。 The above embodiments are merely illustrative of the features of the present invention and The efficiencies are not intended to limit the scope of the technical content of the invention. Modifications and variations of the above-described embodiments can be made by those skilled in the art without departing from the spirit and scope of the invention. Therefore, the scope of protection of the present invention should be as set forth in the scope of the claims described below.
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