KR101072397B1 - A augmented reality system for vessel using monitor and the method using thereof - Google Patents

Abstract

Augmented reality system for ships using a monitor according to the present invention monitors installed in the steering room of the ship; A camera for transmitting an external image of the ship to the monitor; Recognition unit for recognizing the position of the vessel and the direction in which the camera to shoot; A receiver configured to receive external image data information from an external terrain database on an external terrain according to the position of the vessel and the direction in which the camera is photographed; A matching unit which adjusts the external image data received by the receiving unit and the actual external image through the camera to match; And an output unit for outputting the information of the external image data adjusted through the matching unit to the position of the actual external image through the monitor.

Description

Augmented Reality System for vessel using monitor and the method using

The present invention relates to augmented reality system for ships using a monitor and a method of implementing the same.

Augmented Reality (Augmented Reality) creates a new environment by combining the real world that the user sees with the virtual world with additional information. The augmented reality system that combines the real environment and the virtual environment has been researched and developed mainly in the United States and Japan since the late 1990s. Augmented reality, a concept that complements the real world with the virtual world, uses a virtual environment made of computer graphics, but the main role is the real environment. Computer graphics play a role in providing additional information necessary for the real environment.

The prior art in a ship navigation system, as disclosed in the Republic of Korea Patent Application No. 10-2007-0037443 "ship safe navigation method by ECSI with blue information", and accurately measure the wave information through the radar, such information The present invention provides a method of safe ship operation by the ECDS, which displays the information through the ECDS and at the same time shares each other, and has the blue information which can improve the stability of the ship operation through the blue information and the ECDS information.

However, in order to improve the stability of the ship operation, there is a limit to the electronic chart display system (ECDIS) alone, and various information about the real environment and virtual information necessary for operating the ship are displayed at the same time. It is necessary to apply augmented reality system to help the judgment and secure the stability of the ship and to expand the efficiency and accuracy of the ship operation.

The present invention relates to a ship augmented reality system and augmented reality implementation method using a monitor for solving the problems of the prior art, through which the background and objects outside the vessel viewed by the user by taking a CCD camera of their information Is added to the virtual environment so that the information necessary for navigation can be seen at a glance on the monitor so that various and complex navigation information can be judged intuitively to secure the stability of the ship operation and prevent accidents due to inadvertent operation. There is a purpose.

Augmented reality system for ships using a monitor according to the present invention to achieve the above object is a monitor installed in the steering room of the ship; A camera for transmitting an external image of the ship to the monitor; Recognition unit for recognizing the position of the vessel and the direction in which the camera to shoot; A receiver configured to receive external image data information from an external terrain database on an external terrain according to the position of the vessel and the direction in which the camera is photographed; A matching unit which adjusts the external image data received by the receiving unit and the actual external image through the camera to match; And an output unit for outputting the information of the external image data adjusted through the matching unit to the position of the actual external image through the monitor.

In addition, according to the present invention, the recognition unit is characterized by including the GPS system to recognize the moving speed and position of the vessel.

In addition, according to the present invention, the external image data is characterized by consisting of 3D data.

In addition, according to the present invention, the receiver receives the chart from the chart database according to the navigation position of the vessel, and adjusts the chart to match the actual external image in the matching unit, the output unit of the vessel through the monitor It is characterized by displaying the route.

Further, according to the present invention, the receiving unit receives the inland waterway, seabed topography, weather and sea area characteristic information from an electronic chart display system (ECDIS) including information on the inland waterway, seabed topography, weather and sea area characteristics And adjust the information about the inland water channel, the seabed topography, the weather and the sea area characteristics to match the actual external image at the matching unit, and output the information about the inland waterway, the seabed topography, the weather and the sea area characteristics through the output unit. And output to the monitor.

In addition, according to the present invention, the receiving unit receives the information of the other ships operating at sea from the AIS (Automatic Vessel Identification System), and adjusts the information of the other vessels to match the actual external image in the matching unit, the output Output to the monitor through the unit.

In addition, according to the present invention, the matching unit is characterized in that for adjusting the size of the other ships received from the AIS in accordance with a template for each size of the other ship set in advance to output to the monitor through the output unit.

According to the present invention, the receiving unit receives an external moving object from the radar, and adjusts the moving speed and position of the moving object to match the actual external image in the matching unit, and outputs to the monitor through the output unit It is characterized by.

In addition, according to the present invention, when the moving object is not the other vessel received from the AIS, the matching unit is adjusted to match the actual external image, characterized in that output through the output unit to the monitor.

In addition, according to the present invention, when the external illuminance of the vessel is lower than the preset value, it is characterized in that by using a template set in advance in the position of the actual external image.

As another embodiment according to the present invention, the augmented reality system for ships using a monitor is a monitor installed in the steering room of the ship; A camera for transmitting an external image of the ship to the monitor; Recognition unit for recognizing the position of the vessel and the direction in which the camera to shoot; A receiver configured to receive external image data information from an external terrain database on an external terrain according to the position of the vessel and the direction in which the camera is photographed; A matching unit for adjusting the external image data received by the receiving unit and the actual external image through the glass window to coincide; And an output unit for outputting information of the external image data adjusted through the matching unit through the monitor to the position of the actual external image, wherein the receiving unit includes information on inland waterways, seabed topography, weather and sea area characteristics, Comprising a calculation unit for receiving and calculating the moving speed and route of the vessel, the transfer speed and route of the other ship, and the moving speed and the route of the moving object, for predicting the collision according to the time of the vessel according to a predetermined time interval It is characterized by.

According to the present invention, the collision includes a collision with the seabed topography, collision with the other ship, distress according to the weather, distress according to the sea area characteristics, and collision with the external terrain.

In addition, according to the present invention, when the collision is predicted, it characterized in that it comprises an alarm function to alarm.

According to the present invention, when the alarm function is activated in the alarm unit, it characterized in that it comprises a control unit for transmitting a control signal to the navigation control device for automatically correcting the course of the vessel.

A method for implementing augmented reality for ships using a monitor according to the present invention comprises: an image transmitting step of transmitting an external image of the ship photographed by a camera to a monitor installed in a steering room of a ship; A recognition step of recognizing a position of the ship and a photographing direction of the camera; a receiving step of receiving external image data information from an external terrain database on an external terrain according to the position of the ship and the photographing direction of the camera; A matching step of adjusting a match between the external image data received by the receiver and the actual external image through the glass window; And an output step of outputting information of the external image data adjusted through the matching unit to the position of the actual external image through the monitor.

Further, according to the present invention, the receiving step receives the chart from the chart database according to the navigation position of the ship, and adjusts the chart to match the actual external image in the matching step, the output step through the monitor It is characterized by displaying the route of the ship.

In addition, according to the present invention, the receiving step receives the inland waterway, seabed topography, weather and sea area characteristic information from an ECDIS system including information on the inland waterway, seabed topography, weather and sea area characteristics And adjust the information on the inland waterway, the seabed topography, the weather and the sea area characteristics to match the actual external image in the matching step, and output the inland waterway, the seabed topography, the weather and the sea area characteristic information through the outputting step. And output to the monitor.

Further, according to the present invention, the receiving step receives the information of the other ships operating in the sea from the AIS (Automatic Ship Identification Device), and adjusts the information of the other ships to match the actual external image in the matching step, And outputting to the monitor through an output step.

According to the present invention, the receiving step receives an external moving object from the radar, and adjusts the moving speed and position of the moving object to match with the actual external image in the matching step, to the monitor through the output step It is characterized by outputting.

In addition, according to the present invention, the information on the inland waterway, seabed topography, weather and sea area characteristics, the speed and route of the vessel, the transfer speed and route of the other ship, and the transfer rate and route of the moving object Including a calculation step to predict the collision according to the time of the ship according to a predetermined time interval.

According to the present invention, the collision includes a collision with the seabed terrain, a collision with the other ship, a distress according to the weather, a distress according to the sea area characteristics, a collision with the external terrain, and the collision is predicted If it is, characterized in that it comprises an alarm step to function as an alarm.

In addition, according to the present invention, when the alarm function is activated in the alarm step, characterized in that it comprises a control step of transmitting a control signal to the navigation control device to automatically correct the course of the vessel.

An object of the present invention is to provide a device and method for realizing a more realistic augmented reality compared to the prior art by adding a virtual environment to the background and objects viewed by the user.

In addition, many accidents caused by inadvertent operation of the various ship accidents are accounted for due to the fatigue felt by the navigator, and the augmented reality system for ships using the monitor according to the present invention provides the navigator with various and complicated navigation information. By being able to see and understand at a glance, it is effective to prevent marine accidents by improving intuitive judgment.

1 is a block diagram of an augmented reality system for ships using a monitor according to the present invention.
2 is a schematic view of a monitor according to the invention.
3 is a block diagram of another embodiment of a ship augmented reality system using a monitor according to the present invention.
4 is a schematic diagram of a ship augmented reality system using a monitor according to the present invention.
5 is a flowchart illustrating a method for implementing augmented reality for ships using a monitor according to the present invention.

Hereinafter, with reference to the accompanying drawings will be described an embodiment of the present invention; First, it should be noted that the same components or parts among the drawings denote the same reference numerals whenever possible. In describing the present invention, detailed descriptions of related well-known functions or configurations are omitted in order not to obscure the gist of the present invention.

Augmented reality technology is a technology that synthesizes and displays the real image and the virtual image, it is possible to provide more intuitive information by superimposing and outputting the navigation support information on the external image viewed by the navigator.

Augmented reality technology-based intelligent navigation support system combines CCTV cameras and monitor image synthesis technology, three-dimensional matching technology, sensor data fusion technology and intelligent navigation technology to provide navigation information in an easy-to-understand form for navigation safety and information. It is a new concept of navigation system that can improve the transmission efficiency.

The navigation support system using AR technology needs to register real visual information and virtual information. Since the location of visual information varies depending on the user's location and gaze direction, a camera or various sensors are used. It is necessary to accurately find the location and the direction of the user.

The navigation information providing system using AR technology can be utilized for avoiding collisions of ships, maritime traffic flow control, and vessel monitoring by using real-time maritime information providing system, electronic chart, AIS, etc.

1 is a block diagram of an augmented reality system for ships using a monitor according to the present invention.

As shown in FIG. 1, the vessel augmented reality system 1 using the monitor according to the present invention includes a monitor 100, a recognition unit 200, a receiver 300, a matching unit 400, and an output unit 500. Including,

The monitor 100 is installed in the steering room of the ship, the camera 101 for capturing the external image of the ship is installed inside or outside the ship can be rotated to record the direction that the navigator sees, in the camera The actual external image photographed is transmitted to the monitor 100.

The recognition unit 200 recognizes the current speed and position of the ship using the GPS system, and recognizes the direction taken by the camera 101 installed on the ship.

The receiver 300 receives external image data from an external terrain database DB regarding external terrain according to the position of the ship and the direction in which the camera 101 photographs.

The matching unit 400 performs a matching process for accurately matching positions between the received external image data and the actual external image photographed by the camera 101, and the output unit 500 matches the external image matched by the matching unit 400. Various information of the data, that is, information about land, buoy information, etc. are output to the position of the actual external image through the monitor (100).

In order to effectively apply to the matching process with the actual external image, and to allow the navigator to easily see the actual navigation information, the external image data is preferably composed of 3D data. That is, it is preferable that an external terrain database (DB) construction on the external terrain is built up of 3D data.

2 is a schematic view of a monitor according to the invention.

As shown in FIG. 2, various navigation information may be displayed through the monitor 100, and the various navigation information includes information about a ship's route, inland waterways, seabed topography, weather and sea characteristics, and information on other ships. It may include current flight location information.

The collection of information about the ship's route plan among various navigation information is received by the receiver 300 according to the present invention from the chart database DB according to the sailing position of the ship, and the matcher 400 actually receives the chart. Adjust to match the external image.

The output unit 500 displays the route of the ship through the monitor 100 through the monitor 100 by adjusting the actual external image and the received chart.

In addition, the collection of information regarding inland waterways, seabed topography, weather and sea area characteristics is similarly received by the receiver 300 from the electronic chart display system (ECDIS),

The matching unit 400 adjusts the received inland waterway, information on the seabed topography, weather, and sea area characteristics to match the position of the actual external image.

The output unit 500 displays the inland water channel, the seabed terrain, the weather and the sea region characteristics through the monitor 100 through the adjustment between the actual external image and the received inland water channel, the seabed terrain, the weather and the sea area characteristics.

In addition, the collection unit 300 for receiving information about the other ships operating in the sea received from the automatic identification system (AIS),

The matching unit 400 adjusts the received information about the other ships to match the position of the actual external image.

The output unit 500 displays the information on the other ships through the monitor 100 by adjusting the information about the actual external image and the received other ships.

Here, the matching unit 400 selects and adjusts a preset template for each size of the other vessel according to the size of the other vessels collected and displays it on the monitor 100 through the output unit 500.

A template is a pre-modeled classification of vessels by size and type, and it is not possible to create a three-dimensional model for all vessels. In low external light conditions, the ship template and the 3D virtual terrain information are output together, and this image replaces the actual external image.

If you configure the template according to the size of other ships in advance, even though the information collected by AIS during the night operation shows that other ships are operating near, it is not recognized by the naked eyes of the navigator and how close to what size It is difficult to feel intuitively whether other ships are coming, but if you display on the monitor 100 as a template, it is helpful in the collection and determination of the navigation information of the navigator.

The navigator presets the standard of low external illumination, such as when the ship's flight time is night or when the weather is poor, and senses the external illumination in real time through the light sensor, If it is low, it means that the actual external image is not properly distinguished by the navigator's naked eye, and to compensate for this, the actual external image is displayed using a preset template.

For reference, the Marine Life Safety Convention (Solars) is required to send information about the ship to passengers outside the ship, and ships over 100m in length, and the ship operation information of these other ships is collected through AIS. AIS is an automatic identification system, which is an advanced device that provides navigation information such as ship position, course, and speed in real time. It is a device to prevent the collision of ships at sea, and it is mandatory to install the ship according to the International Maritime Organization (IMO), and the ship automatic identification device (AIS) is introduced, and the existence of other ships even when the adjacent ship cannot be recognized. You can judge the progress.

Collection of information about small vessels other than other ships that can be collected through AIS or moving objects drifting on the sea other than the vessels is received by the receiver 300 from the radar, and the matching unit 400 determines the moving speed and position of the moving objects. After adjusting to match with the actual external image, and outputs to the monitor 100 through the output unit 500.

3 is a block diagram of another embodiment of a ship augmented reality system using a monitor according to the present invention.

As shown in FIG. 3, the augmented reality system for a ship using a monitor according to the present invention includes a monitor 100, a camera 101, a recognition unit 200, a receiver 300, a matching unit 400, and an output unit ( In addition to 500, a calculation unit 600 may be further included.

Inland water channel received and collected by the electronic chart display system (ECDIS) from the electronic chart display system (ECDIS), the recognition unit 200 recognizes the information on the seabed topography, weather and sea area characteristics, GPS The current speed and route information of the ship, the information about the sea chart collected by the receiver 300 according to the navigation position of the vessel from the database (DB), the sea received by the receiver 300 through the AIS collected Comprehensive information about the other ships in operation, the calculation unit 600 calculates the possibility of collision due to other marine vessels, moving objects, inland waterways, reefs, such as reefs according to the ship's route plan.

The navigator may set a time interval in advance so that the calculation unit 600 calculates a collision probability at a predetermined time interval, and predicts a collision at a time interval set according to the progress time of the ship.

In this case, the collision refers to a collision with a seabed topography, a collision with another ship, a distress according to sea characteristics such as distress due to bad weather, a vortex, a speed of water, collision with external terrain such as land and an island.

If a collision is anticipated, it may include an alarm unit 700 that alarms the navigator.

The alarm uses an image alarm, such as screen flicker, or a sound alarm on the monitor 100. All of these can be used, and the type of alarm can be selected by the navigator.

In addition, when the collision is predicted and the alarm function is activated in the alarm unit 700, the controller 800 may further include a control signal for transmitting a control signal to the navigation controller to automatically modify the route plan of the ship.

Through this, the augmented reality system for ships using the monitor according to the present invention provides the navigator with comprehensive information necessary for navigating at a glance to increase intuitive judgment, and prevents navigators' mistakes by automatically adjusting the route. By doing so, the marine collision can be blocked.

4 is a schematic diagram of a ship augmented reality system using a monitor according to the present invention.

As shown in Figure 4, the navigator can see at a glance a variety of information displayed on the monitor 100 installed in the steering room of the ship and the actual external image taken through the camera 101.

5 is a flowchart illustrating a method for implementing augmented reality for ships using a monitor according to the present invention.

As shown in FIG. 5, a method for implementing augmented reality for a ship using a monitor includes: an image transmitting step (S100) of transmitting an external image of the ship photographed by a camera to a monitor installed in a steering room of a ship; Recognition step (S200) for recognizing the position of the ship and the shooting direction of the camera; Receiving step (S300) for receiving external image data information from an external terrain database on the external terrain according to the position of the ship and the shooting direction of the camera, the external image data received by the receiver and the actual external image through the glass window and Matching step (S400) of adjusting the matching, and output step (S500) for outputting the information of the external image data adjusted through the matching step (S400) through the monitor to the position of the actual external image.

Receiving step (S300) receives the chart from the sea chart database according to the navigation position of the ship, from the electronic chart display system (ECDIS) including inland waterway, seabed topography, weather and sea area characteristics, inland waterways, seabed Receives terrain, weather and sea feature information, receives information of other ships operating at sea from AIS (Automatic Vessel Identification System), receives external moving objects from radar, and displays actual external images and display position of these information. The matching process is performed in the matching step (S400) to match, and in the output step (S500) to display a variety of information through the monitor.

These various external information, such as inland waterways, seabed topography, information on weather and sea characteristics, the speed and route of vessels, the speed and route of other ships, and the speed and route of moving objects The calculation may further include a calculation step (S600) of calculating whether there is a possibility of collision when the ship sails according to the route plan.

If the collision is predicted by predicting the collision according to the sailing time of the ship according to the time interval set by the navigator in advance, it may further include an alarm step (S700) for sending an alarm signal to the navigator.

The collision may include, but is not limited to, collision with seabed terrain, collision with other ships, distress due to weather, distress due to sea area characteristics, and collision with external terrain.

When the alarm function is activated in the alarm step (S700), it may further include a control step (S800) for transmitting a control signal to the navigation control device to modify the route plan of the vessel.

While the invention has been shown and described in connection with specific embodiments thereof, it is conventional in the art that various changes, modifications and variations are possible without departing from the spirit and scope of the invention as indicated by the appended claims. Anyone who knows the knowledge of is easy to know.

1: Marine Augmented Reality System with Monitor
100: monitor 101: camera
200: recognition unit 300: receiving unit
400: matching part 500: output part
600: calculation unit 700: alarm unit
800: control unit
S100: Image transmission step S200: Recognition step
S300: Receive step S400: Matching step
S500: output step S600: calculation step
S700: alarm step S800: control step

Claims (22)

Monitors installed in the ship's steering chamber;
A camera for transmitting an external image of the ship to the monitor;
Recognition unit for recognizing the position of the vessel and the direction in which the camera to shoot;
A receiver configured to receive external image data information from an external terrain database on an external terrain according to the position of the vessel and the direction in which the camera is photographed;
A matching unit which adjusts the external image data received by the receiving unit and the actual external image through the camera to match; And
An output unit configured to output the information of the external image data adjusted through the matching unit to the position of the actual external image through the monitor;
The receiving unit receives an external moving object from the radar,
Adjust the moving speed and position of the moving object to match the actual external image in the matching unit,
Augmented reality system for ships using a monitor, characterized in that for outputting the moving object to the monitor through the output unit. The method of claim 1,
The recognition unit augmented reality system for a ship using a monitor comprising a GPS system to recognize the moving speed and position of the ship. The method of claim 2,
Augmented reality system for ships using a monitor, characterized in that the external image data is composed of 3D data. The method of claim 3,
The receiving unit receives a chart from the chart database according to the navigation position of the ship,
By adjusting the chart to match the actual external image in the matching unit,
The output unit is a ship augmented reality system using a monitor, characterized in that for displaying the route of the vessel through the monitor. The method of claim 4, wherein
The receiving unit receives the inland water channel, the seabed topography, the weather and the sea area characteristic information from an electronic chart display system (ECDIS) including information about the inland waterway, the seabed topography, the weather and sea area characteristics,
By adjusting the information on the inland waterway, seabed topography, weather and sea area characteristics to match the actual external image in the matching unit,
Augmented reality system for ships using a monitor, characterized in that for outputting the information on the inland waterway, seabed topography, weather and sea area characteristics through the output unit to the monitor. The method of claim 5,
The receiving unit receives information of other ships operating at sea from AIS (Automatic Vessel Identification System),
By adjusting the information of the other ships to match the actual external image in the matching unit,
Augmented reality system for a ship using a monitor, characterized in that for outputting the information of the other vessels through the output unit to the monitor.
The method of claim 6,
The matching unit adjusts the size of the other vessels received from the AIS according to a template for each size of the other vessel in advance to output the other vessels as a template to the monitor through the output unit using a monitor augmented reality system.
delete The method of claim 7, wherein
If the moving object is not another vessel received from the AIS, the matching unit adjusts to match the actual external image,
Augmented reality system for ships using a monitor, characterized in that for outputting the moving object to the monitor through the output unit.
10. The method of claim 9,
When the external illuminance of the vessel is lower than the preset value, the vessel augmented reality system using a monitor, characterized in that for displaying the position of the actual external image using a preset template.
Monitors installed in the ship's steering chamber;
A camera for transmitting an external image of the ship to the monitor;
Recognition unit for recognizing the position of the vessel and the direction in which the camera to shoot;
A receiver configured to receive external image data information from an external terrain database on an external terrain according to the position of the vessel and the direction in which the camera is photographed;
A matching unit which adjusts the external image data received by the receiving unit and the actual external image through the camera to match; And
An output unit configured to output the information of the external image data adjusted through the matching unit to the position of the actual external image through the monitor;
The receiving unit includes a calculation unit for receiving and calculating information on inland waterways, seabed topography, weather and sea characteristics, the moving speed and route of the vessel, the traveling speed and route of other ships, and the moving speed and route of a moving object. ,
Predicting a collision with the seabed topography, a collision with the other ship, a distress due to the weather, a distress according to the sea area characteristics, and a collision with the external terrain according to a preset time interval. Augmented reality system for ships using a monitor.
delete The method of claim 11,
The augmented reality system for ships using a monitor, characterized in that it comprises an alarm function to alarm when the collision is predicted. The method of claim 13,
And a control unit for transmitting a control signal to the navigation control device to automatically correct the course of the ship when the alarm function is activated in the alarm unit. An image transmission step of transmitting an external image of the vessel photographed by a camera to a monitor installed in a steering room of the vessel;
A recognition step of recognizing a position of the ship and a photographing direction of the camera;
A receiving step of receiving external image data information from an external terrain database on an external terrain according to the position of the ship and the photographing direction of the camera;
A matching step of adjusting a match between the external image data received by the receiver and the actual external image through the camera; And
And outputting the information of the external image data adjusted through the matching unit through the monitor to the position of the actual external image,
The receiving step receives an external moving object from the radar,
Adjust the moving speed and position of the moving object to match the actual external image in the matching step,
Augmented reality implementation method for a ship using a monitor, characterized in that for outputting the moving object to the monitor through the output step. 16. The method of claim 15,
The receiving step receives a chart from the chart database according to the navigation position of the ship,
By adjusting the chart to match the actual external image photographed and transmitted by the camera in the matching step,
The output step is a ship augmented reality implementation method using a monitor, characterized in that for displaying the course of the ship through the monitor. The method of claim 16,
The receiving step receives the inland waterway, seabed topography, weather and sea area characteristic information from an electronic chart display system (ECDIS) including information on inland waterway, seabed topography, weather and sea area characteristics,
By adjusting the information on the inland waterway, seabed topography, weather and sea area characteristics to match the actual external image in the matching step,
The augmented reality implementation method for a ship using a monitor, characterized in that for outputting the inland waterway, seabed topography, weather and sea feature information to the monitor through the output step. The method of claim 17,
The receiving step is to receive information of other ships operating at sea from AIS (Automatic Vessel Identification System),
By adjusting the information of the other ships to match the actual external image in the matching step,
The augmented reality implementation method for a ship using a monitor, characterized in that for outputting the information of the other ships to the monitor through the output step.
delete The method of claim 18,
A calculation step of calculating information about the inland water channel, the seabed topography, weather and sea characteristics, the moving speed and route of the vessel, the traveling speed and route of the other ship, and the moving speed and route of the moving object; Predict a collision with the seabed topography, a collision with the other ship, a distress due to the weather, a distress according to the sea area characteristics, a collision with the external terrain according to a preset time interval, When a collision is predicted, the augmented reality implementation method for a ship using a monitor comprising an alarm step to function as an alarm.
delete The method of claim 20,
And a control step of transmitting a control signal for automatically correcting the course of the ship to the navigation control device when the alarm function is activated in the alarm step.

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