KR101193687B1 - Sailing control system for avoiding ship collision - Google Patents

Abstract

PURPOSE: A sailing control system for avoiding ship collision is provided to effectively prevent ship collision by controlling a sailing course of a ship according to a collision ratio calculated in each detection sea area. CONSTITUTION: A detection sensor(610) senses a moving object existing in a surrounding sea area of a ship. A ship anti-collision unit(620) calculates the speed and moving direction of the moving object, the moving direction of the ship, and the distance between the ship and the moving object. A controller(630) determines a possibility of colliding with the moving object. [Reference numerals] (610) Detection sensor; (620) Ship anti-collision unit; (630) Controller

Description

Sailing control system for avoiding ship collision

The present invention relates to a navigation control system, and more particularly to a navigation control system for controlling the operation of a ship sailing in the sea.

Recently, a system for controlling the operation of large vessels such as container ships, cargo ships or merchant ships has been proposed. In particular, various systems for collision avoidance of ships and notification of collisions have been proposed, and are generally designed to prevent collisions between large vessels and external objects using expensive radars or E-navigation devices.

However, recent research reports show that collisions of ships are steadily increasing, and that collisions are more frequent in small ships such as fishing boats or yachts working in offshore than large ships.

Therefore, there is a demand for a method for preventing a ship collision in a small ship not equipped with a radar or an E-navigation apparatus. In addition, in the case of a small ship, when a ship collision occurs, a method for notifying the outside of the collision more quickly is required.

The present invention was devised to effectively prevent the collision between the object and the ship or ships in accordance with the above-described request, when the object or ship is detected in each detection area, calculates the distance and the moving speed, and alerts each moving speed It is an object of the present invention to provide a navigation control system that can prevent a collision by setting a critical distance, and when the distance between an object and a ship or ships is closer than a set alarm threshold distance, generating an alarm sound according to whether a protection time has elapsed.

In addition, the present invention is to provide a flight control system that can prevent the collision by calculating the collision probability for each of the detection area divided into a plurality, modifying the flight route by determining the priority in the order of low collision probability, There is a purpose.

In addition, the present invention even if a collision between the object and the vessel or ships using a camera and a wireless communication module mounted on the vessel to operate the flight control system that can transmit the image information and location information about the accident site to the external monitoring agency There is another purpose to provide.

According to an embodiment of the present invention, the collision avoidance and recognition system of the ship is a sensing sensor for sensing a moving object present in the surrounding waters of the vessel, if the moving object is detected, the speed of the moving object, the movement of the moving object A possibility of collision with the moving object is diagnosed based on a calculation result of at least one of a ship collision prevention part and a ship collision prevention part that calculate at least one of a direction, a moving direction of the ship, and a distance to the moving object. It includes a control unit for performing a corresponding control operation.

In this case, an alarm generating unit for generating an alarm is further included, and the control unit diagnoses that there is a possibility of collision when it is determined that the moving object has approached within an alarm distance, and controls the alarm generating unit to generate the alarm, It is preferable that the alarm generation distance can be changed.

In this case, the apparatus further includes a storage unit in which a plurality of preset speed levels and an alarm generation distance corresponding to each speed level are stored, and wherein the controller is configured to move the movement among the plurality of speed levels when the moving object moves in the ship direction. An alarm distance corresponding to a speed level to which an object speed belongs may be read from the storage unit, and if it is determined that the moving object approaches within the read alarm distance, the collision may be diagnosed.

The controller may adaptively change the alarm distance according to the speed of the moving object, and diagnose that there is a possibility of collision if it is determined that the moving object approaches within the changed alarm distance.

On the other hand, the control unit divides the surrounding waters of the ship into a plurality of pieces, calculates the collision probability based on the calculation result of the vessel collision prevention unit for each of the divided seas, and the priority of the calculated collision probability in the order of low The flight route may be modified in consideration of the determined priority and the predetermined target route coordinate.

On the other hand, the control unit waits for a preset protection time when it is determined that the moving object has approached within the alarm distance, and diagnoses that there is a possibility of collision when the moving object moves in the direction of the ship even after the protection time has elapsed. can do.

In this case, the controller divides a plurality of sea areas around the ship into a plurality of pieces, calculates a collision probability based on a calculation result of the ship collision prevention unit in each of the divided sea areas, and the calculated collision probability is in order of priority The flight route may be modified in consideration of the determined priority and the predetermined target route coordinate.

On the other hand, the pressure sensor for sensing the impact amount of the vessel at the time of collision between the vessel and the object, and if the impact amount exceeds a preset threshold, the vessel collision processing unit for transmitting the collision occurrence information to the server of the external management authority It may include.

In this case, the ship collision processing unit, GPS receiver for receiving the position information of the ship; And an image photographing unit photographing the sea area around the vessel, wherein the controller controls the GPS receiver to record the position information when a collision between the vessel and the object occurs, and the image to photograph the collision image. The photographing unit can be controlled.

In this case, further comprising a wireless communication unit for communicating with the server of the external management authority, wherein the control unit, when the collision between the vessel and the object, to transmit the location information and the collision image to the server of the external management authority. The wireless communication unit can be controlled.

On the other hand, if it is determined that the object is located within the alarm distance, the control unit controls the lighting provided in the small vessel to illuminate a light or an alarm lamp in the sea area where the object is located, or to turn on or blink the lighting Can be.

The display apparatus may further include a display configured to display at least one of a region in which the object is disposed, a distance or direction between the small vessel and the object, a coordinate value of the object, and a speed level of the object.

According to the present invention, it is possible to prevent the accident of the ship due to the navigator's carelessness, and the alarm critical distance according to the moving speed of the object or the vessel approaching from the small ship difficult to install expensive radar or E-navigation device And by setting the protection time to effectively prevent the ship collision, it is possible to effectively control the ship's navigation route according to the collision probability calculated for each detection area can be effectively prevented.

In addition, when the ship collides with an external object or the ship, the fact that the collision occurs can be automatically notified to the management agency, it is possible to prompt rescue and accident handling even in situations where rescue requests are difficult due to injury or sinking of the crew.

1 is a view showing a flight control system according to an embodiment of the present invention,
2 is a view for explaining in more detail the flight control system of FIG.
3 is a view for explaining in more detail the ship collision prevention unit and the vessel collision processing unit of FIG.
4 is a diagram illustrating an example of a display unit;
5 is a flowchart for explaining an operating principle of a flight control system;
6 is a block diagram showing the configuration of a navigation control system according to a modified embodiment of the present invention;
FIG. 7 is a block diagram illustrating a detailed configuration of the flight control system shown in FIG. 6;
8 is a view showing an example of a display unit according to a modified embodiment of the present invention;
9 is a flowchart illustrating an operation principle of a navigation control system according to a modified embodiment of the present invention.

Hereinafter, the present invention will be described in more detail with reference to the accompanying drawings.

1 is a view showing a flight control system according to an embodiment of the present invention. This navigation control system is intended to prevent ship collision. Therefore, it may be called a ship collision prevention and recognition system.

Referring to FIG. 1, the navigation control system 100 includes a ship collision preventing unit 111, a control unit 112, a ship collision processing unit 113, a display unit 114, a storage unit 115, and a ship 110. It includes a plurality of sensors 120 to 125 attached to.

The ship collision prevention unit 111 monitors each area 11 to 16 of the detection sea area 10 by using each detection sensor 120 to 125.

In detail, the first detection sensor 120 detects (or senses) an object or a vessel moving in the area A of the detection area 10, and the second detection sensor 121 detects the detection area 10. Detects an object or a vessel moving in the B area 12, the third detection sensor 122 detects an object or a vessel moving in the detection area 10, C region 13, the fourth detection sensor 123 Detects an object or a vessel moving in the detection area 10 D area 14, and the fifth detection sensor 124 detects an object or a ship moving in the detection area 10 E area 15, 6 sensor 125 may detect a moving object or a vessel in the detection area 10 F region (16).

The sensing sensors 120 to 125 may be at least one of an ultrasonic sensor and a pressure sensor. If the detection sensors 120 to 125 are ultrasonic sensors, the detection sensors 120 to 125 may detect a distance or direction from the ship 110 to an object or an external ship. However, an infrared sensor may be used to detect the distance or direction from the vessel 110 to an object or an external vessel.

 On the contrary, if the detection sensors 120 to 125 are pressure sensors, the detection sensors 120 to 125 may detect an impact amount of an object colliding with the vessel 110 or an external vessel.

In the above description, for convenience of description, the sensing sensors 120 to 125 are six, but the present invention is not limited thereto. One or more sensing sensors 120 to 125 may be provided to provide more accurate sensing.

In addition, the ship collision prevention unit 111 recognizes the distance from the vessel 110 to the object or the outer vessel, calculates the distance or direction from the vessel 110 to the object or the outer vessel, to the calculated distance or direction Accordingly, the speed of the object or the external ship is calculated, and an alarm is generated based on the calculated speed and the calculated distance.

The ship collision preventer 111 performs various operations to prevent the collision before the ship 110 collides with an object or an external ship, and the ship collision preventer 111 will be described later with reference to FIG. 3. Reference will be made in more detail.

The controller 112 generally controls the ship collision prevention unit 111, the ship collision processing unit 113, the display unit 114, and the detection sensors 120 to 125.

In detail, the ship collision prevention unit 111 or the ship collision processing unit 113 may receive information on each component, or may instruct an operation to be performed by each component. In addition, the control unit 112 may receive a detection signal from the detection sensors 120 to 125 and transmit the detection signal to the ship collision preventing unit 111 and the ship collision processing unit 113.

In addition, when the object or the external vessel is sensed in the detection area 10, the control unit 112, the area where the sensed object or the external vessel is disposed, the distance between the vessel 110 and the object or the external vessel, the object or the outer vessel The display unit 114 may be controlled to display the coordinate value and the speed level of the object or the external vessel.

The coordinate value includes latitude and longitude information, and may include various information for indicating the position of the ship 110 in the sea area.

When the ship collision processor 113 determines that the ship 110 has collided with an object or an external ship by the amount of impact measured using the sensors 11 to 16 for each region, the ship at the time of the collision The coordinate value of 110 may be received from the satellite, and the external management server may be notified of the captured image and the received coordinate value at the time of the collision.

The ship collision processing unit 113 is configured to process various operations when the ship 110 collides with an object or an external ship, and the ship collision prevention unit 113 will be described in more detail with reference to FIG. 3 to be described later. Let's explain.

The display unit 114 may display the vessel 110 in the form of an icon in the center of the screen, and may display an object or an external vessel in the form of an icon so as to be spaced apart from the vessel 110 by a predetermined distance. In addition, the display unit 114 may display at least one of an area in which an object or an outer vessel is disposed, a distance between the vessel 110 and the object or the outer vessel, a coordinate value of the object or the outer vessel, and a speed level of the object or the outer vessel. Can be displayed.

The display unit 114 will be described in more detail with reference to FIG. 4 to be described later.

The storage unit 115 may store a distance, a direction, and a speed (including a speed level) that may be used by the ship collision prevention unit 111, and may include an impact amount and a collision image that may be used by the ship collision processing unit 113. The photographed image including a, may store the position information of the vessel received from the satellite. In addition, the storage 115 may store an area in which an object to be displayed or an external vessel is disposed on the display 114.

Meanwhile, the ship of the present invention may be a small ship of less than 100 tons. Preferably, the ship of the present invention may be a small ship of less than 30 tons registered by September 31, 2008 or a small ship of less than 25 tons newly built after October 1, 2008 according to the Enforcement Decree of the Ship Staff Act. have.

According to the present invention, it is possible to effectively prevent a ship collision by setting an alarm threshold distance according to the moving speed of an object or a vessel approaching a small vessel that is difficult to mount expensive radar or E-navigation apparatus. In addition, when a ship collides with an external object or a ship, the fact that a collision occurs can be automatically notified to related organizations, so that even if a rescue request is difficult due to injury or sinking of a crew, quick rescue and accident handling can be performed.

FIG. 2 is a view for explaining the operation control system of FIG. 1 in more detail.

Referring to FIG. 2, the sensing sensors 120 to 125 may include an ultrasonic sensor 201 and a pressure sensor 202. The ultrasonic sensor 201 is used to calculate the distance, direction, and speed of the moving object or the external vessel in each detection area 11 to 16, and the pressure sensor 202 is used to detect each detection area 11 to 16. Detects collisions with moving objects or external ships. The distance, direction, speed, and impact amount calculated by the detection sensors 120 to 125 are managed by the control unit 112, and the control unit 112 is a ship collision prevention unit when the ship 110 is in danger of collision or collides with the ship. Each of the 111 and the ship collision processing unit 113 is controlled.

Since the ultrasonic sensors 201 are divided into six detection areas 11 to 16, the controller 112 may check an approximate direction according to the divided detection areas 11 to 16. In addition, the control unit 112 may control the ultrasonic sensor 201 so that the sensing direction of the ultrasonic sensor 201 is changed to the left and right, and thus, the direction of the moving object or the external vessel may be more accurately confirmed.

As described above, the above-described detection sensor 120-125, that is, the ultrasonic sensor 201 and the pressure sensor 202 may be connected (communication) to the control unit 112 by wire or wirelessly, respectively. In addition, although six detection areas 11-16 are described above for convenience of description, the present invention is not limited thereto.

3 is a view for explaining in more detail the ship collision prevention unit and the ship collision processing unit of FIG.

Referring to FIG. 3, the ship collision preventer 111 includes a distance calculator 301, a speed calculator 302, and an alarm generator 303.

The distance and direction calculator 301 calculates the distance and direction of a moving object or an external ship, and the speed calculator 302 calculates the speed of a moving object or an external ship. The distance and direction calculator 301 and the speed calculator 302 transmit the calculated distance and direction and the speed to the controller 112, respectively.

The controller 112 determines whether the vessel 110 is in danger of colliding with a moving object or an external vessel, and when it is determined that the vessel is in danger of collision, the controller 112 generates at least one alarm signal of an alarm sound or an alarm lamp (lighter). The alarm generating unit 303 is controlled to make.

Alternatively, when it is determined that the vessel 110 is in danger of colliding with a moving object or an external vessel, the controller 112 may control to turn on or flash some or all of the lights provided in the vessel 110. Accordingly, the existence of the vessel 110 may be notified to the moving object or the external vessel.

On the contrary, when it is determined that the vessel 110 is in danger of colliding with the moving object or the external vessel, the controller 112 may control to illuminate the moving object or the external vessel, and thus, the moving object. Alternatively, the external vessel may be notified of the existence of the vessel 110.

Meanwhile, the ship collision processing unit 113 includes a GPS receiver 304, an image photographing unit 305, and a wireless communication unit 306.

The GPS receiver 304 may receive location information (ie, coordinate values) or time information of the ship 110 from the satellite in real time. The GPS receiver 304 may store location information or time information in the storage 115 when a collision of the ship 110 occurs under the control of the controller 112.

The image photographing unit 305 may photograph the vessel 110 and the periphery of the vessel 110. The image capturing unit 305 may be implemented in various forms such as a CCTV or a camcorder.

The wireless communication unit 306 may communicate with an external management authority. In detail, the wireless communication unit 306 may notify the server of the external management organization of the collision occurrence information by using wireless communication means such as a CDMA module, a WCDMA module, and a wireless Internet.

The collision occurrence information may include a coordinate value, a collision image, a collision occurrence time, and vessel information of the vessel 110 in which the collision occurred. Here, the vessel information may include the owner of the vessel 110, the type of vessel 110, the number of people on board, the name of the passenger, the age of the passenger, the resident registration number, departure time and the like.

The controller 112 determines whether the vessel 110 collides with an object or an external vessel by using the impact amount sensed by the pressure sensor. In detail, the controller 112 may determine that a collision occurs when the impact amount is greater than or equal to a preset value.

If the controller 112 determines that the vessel 110 collides with a moving object or an external vessel, the controller 112 checks the current coordinate value by the GPS receiver 304 and the image photographing unit 305. The GPS receiver 304 and the image capturing unit 305 may be controlled to capture an image of a collision area among the regions 11 to 16 of the detection area 10.

In addition, the controller 112 transmits the received coordinate value and the captured image to at least one server of an insurance company, a company, a port management station at which the ship 110 departed, and the Maritime Police Agency 122. 306 may be controlled.

4 is a diagram illustrating an example of a display unit.

Referring to FIG. 4, the display 114 may include a GUI area and a text area.

In the GUI area of the display 114, the detection area 10 sensed by each sensor may be divided into six and displayed on the vessel 410. In addition, the external vessel 420 may be displayed in the GUI area of the display 114.

As an example, the text area of the display 114 may be disposed at the bottom of the GUI area, and may indicate in which detection area 10 the external vessel 420 is detected. As shown, if the outer vessel 420 is detected in the area A, the information "the outer vessel is located in the area A" may be displayed in the text area of the display 114.

In addition, the calculated distance between the outer vessel 420 and the vessel 410, the coordinates of the outer vessel, and the speed level of the outer vessel may be displayed in the text area of the display 114.

As shown in FIG. 4, the speed level of the outer vessel 420 may be displayed by being divided into high speed, medium speed, and low speed according to a predetermined criterion, and the speed of the outer vessel 420 may be directly displayed.

In the above description, for convenience of description, the detection area 10 is six, but is not limited thereto.

5 is a flowchart illustrating an operation principle of the flight control system.

Referring to FIG. 5, the sensors 120 to 125 continuously monitor each detection area 11 to 16, and recognize a distance to an object or an external vessel moving in the detection area 101 to 106 (S501). ).

In addition, the sensor 120 to 125 calculates the speed of the moving object or the external vessel recognized in the detection area (11 to 16) (S502).

The controller 112 may classify the speed of the object or the external vessel moving in the detection areas 11 to 16 into high speed (S503), medium speed (S504), and low speed (S505). In detail, the controller 112 may distinguish the speed of the moving object or the external vessel by using the first threshold value and the second threshold value.

The controller 112 sets one of the high speed alarm distance (S506), the medium speed alarm distance (S507), and the low speed alarm distance (S508) according to the divided speed level, and the vessel 110 and the moving object or the external vessel. When the distance between the vehicle is closer than the previously set warning distances S506 to S508 (S509), it is determined that the ship 110 is in danger of collision, and an alarm sound is generated or the light of the ship 110 (or Alarm lights) can be turned on or controlled to illuminate lights (or alarm lights) on moving objects or external vessels.

In the present embodiment, the risk of collision is determined according to a plurality of preset speed levels and alarm distances corresponding to the speed levels, but according to another embodiment, the alarm distance is adaptively determined according to the speed of each external vessel to determine the collision. You can also judge the risk. This will be described later.

In addition, the sensor 120 to 125 detects the impact amount between the vessel 110 and the moving object or the external vessel (S511).

In this case, when the control unit 112 determines that the ship 110 has collided (S512), the GPS receiver 304 captures the current coordinate values and the accident image by the GPS receiver 304 and the image photographing unit 305. And the image capturing unit 305, respectively (S513), the position of the current vessel 110 to any one server of the company, insurance company, the port departed by the ship, and the Maritime Police Agency (122) And the wireless communication unit 306 to transmit the accident image (S514).

6 is a block diagram showing the configuration of a navigation control system according to a modified embodiment of the present invention.

The navigation control system according to this modified embodiment senses a moving object present in the surrounding waters of the ship, and calculates at least one of the detected speed of the moving object, the moving direction of the moving object, the moving direction of the ship, and the distance to the moving object. The possibility of collision with the moving object may be diagnosed based on the calculation result, and a control operation corresponding to the diagnosis result may be performed.

As shown in FIG. 6, the navigation control system 600 performing this function may include a detection sensor 610, a ship collision prevention unit 620, and a controller 630. Meanwhile, in describing the operation control system 600 illustrated in FIG. 5, portions overlapped with those described in FIGS. 1 to 3 will be omitted.

The detection sensor 610 may sense a moving object present in the surrounding waters of the ship. In detail, the detection sensor 610 may include a plurality of sensors to detect an object moving or stopped on each area of the detection area, and each sensor may be an ultrasonic sensor or an infrared sensor.

When the moving object is detected according to the sensing result of the sensing sensor 610, the ship collision preventing unit 620 may calculate the speed, the moving direction, the moving direction of the ship, and the distance between the ship and the moving object. . Specifically, the ship collision prevention unit 620 emits a radio wave to the moving object at a predetermined time period through the detection sensor 610, the distance to the object using the speed of the radio wave and the time of the reflected radio wave, The direction and speed of movement can be calculated. However, this is only an example, and the ship collision preventer 620 may calculate a distance, a moving direction, and a speed with respect to the moving object by various methods.

The controller 630 may diagnose a possibility of collision with the moving object based on the calculation result of the ship collision prevention unit 620 and perform a control operation corresponding to the diagnosed result. A detailed operation of the controller 630 will be described later with reference to FIG. 7.

FIG. 7 is a block diagram illustrating a detailed configuration of the flight control system shown in FIG. 6. Referring to FIG. 7, the navigation control system 600 includes a detection sensor 610, a ship collision prevention unit 620, a control unit 630, a ship collision processing unit 640, a display unit 650, and a storage unit 670. ) May be included.

The controller 630 may diagnose that there is a possibility of collision when it is determined that the moving object or the external vessel approaches the alarm distance, and control the alarm generator 303 of FIG. 3 to generate an alarm.

Specifically, the controller 630 divides the speed of the moving object or the external ship according to the preset speed level, compares the distance with the object or the external ship with the alarm distance according to the speed level, and approaches within the warning distance. If it is determined, it can be diagnosed that there is a possibility of a collision. In this case, a preset speed level stored in the storage unit 670 and an alarm distance according to each speed level may be read and used. Specifically, as described in FIG. 5, when the alarm distance is set to the high speed alarm distance, the medium speed alarm distance, the low speed alarm distance, and the like, and the speed range is determined for each alarm distance, the speed of the object or the external vessel belongs. The alarm distance corresponding to the speed range may be read, and an alarm may be generated when the alarm distance is entered within the alarm distance.

In addition, the controller 630 may adaptively change the alarm distance according to the speed of the moving object, and diagnose that there is a possibility of collision if it is determined that the moving object approaches within the changed alarm distance. That is, the controller 630 may set the alarm distance smaller as the speed of the moving object or the external vessel increases, and may diagnose that there is a possibility of collision when the moving object or the external vessel enters the alarm distance. Accordingly, the alarm distance can be adaptively set in proportion to the speed of each moving object or the external vessel.

Meanwhile, in the above-described embodiment, the alarm distance is set according to the speed of the moving object, but this is only an example. That is, the warning distance can be adaptively changed according to the weather conditions of the sea area in which the ship is operating or the type of moving object, in this case, an object that can change the operating route quickly or a weather condition where rain or wave is high. It is possible to set a small alarm distance for external vessels.

Meanwhile, according to another embodiment, the controller 630 may consider the protection time when diagnosing the possibility of collision. In detail, even when it is determined that the moving object approaches the alarm distance, the controller 630 may wait for a preset protection time and diagnose that there is a possibility of collision if the moving object moves toward the ship even after the protection time has elapsed. have. That is, even when a moving object or an external vessel enters into the alarm distance, the moving direction of the object or the external vessel may be changed, so that the controller 630 waits for a preset protection time and diagnoses the possibility of collision. can do. Even in this case, the protection time may be set differently according to the weather condition of the sea area in which the ship is operating, the speed of the moving object or the external ship, and the type.

When the controller 630 is diagnosed that there is a possibility of collision with the moving object or the external vessel, the controller 630 may control the alarm generator 303 of FIG. 3 to generate an alarm. In detail, the controller 630 may generate at least one alarm signal of an alarm sound or an alarm lamp (lighter) in the ship, and may generate an alarm signal to the outside of the ship by illuminating an object or an external ship that is moving. In this case, the warning lights inside the ship may be turned on or flashing in whole or in part, and the alarm signals for the inside and outside of the ship may be generated together or independently.

In addition, the controller 630 divides the surrounding waters of the vessel into a plurality of pieces, calculates a collision probability for each of the divided seas, determines a priority in each sea area according to the calculated collision probability, and modifies the navigation route accordingly. Can be.

In detail, the controller 630 divides the surrounding sea area into a plurality of regions (11-16 of FIG. 1), calculates a collision probability with an object or an external vessel existing in each region, The probability of collision can be calculated.

For example, the controller 630 calculates a movement path according to time of the object or the external ship, based on the moving direction, the speed, and the distance of the moving object or the external ship calculated by the ship collision prevention unit 620, The probability of collision between the ship and each object or an external ship can be calculated by comparing this with the moving position of the ship over time.

The controller 630 may determine the priority of each region by using the average value of the collision probability calculated for each object or the external vessel existing in each region or the highest collision probability value in each region. In this case, the priority of each region may be determined in the order of the lowest average value of the calculated collision probabilities or the highest collision probability value in each region.

In addition, the controller 630 may correct the navigation route of the ship in consideration of the determined priority and the predetermined target route coordinate.

In detail, when it is diagnosed that there is a possibility of collision with the moving object or the external vessel, the controller 630 may change the operation route of the vessel to the region closest to the preset target route coordinate and having a lower priority. In addition, the controller 630 may re-diagnose the possibility of collision with the moving object or the external vessel, and may modify the navigation route of the vessel to the target route coordinates before the change.

As an example, it is assumed that there is a possibility of collision with an external vessel existing in the area A among the areas shown in FIG. In this case, if the preset target route coordinates belong to the area B, the controller 630 may have a priority of two ranks, but may modify the flight route to the area C adjacent to the area B. When it is determined that there is no vessel approaching within the warning distance, the navigation route can be changed back to the B region.

8 is a diagram illustrating an example of a display unit according to a modified embodiment of the present invention.

Referring to FIG. 8, it can be seen that the display unit 650 according to the present embodiment displays information on a collision possibility area of a moving object or an external vessel and information on priority. That is, as shown in FIG. 8, the area (area A) in which the moving object or the outer vessel, which is determined to be colliding, exists as the information about the collision possibility area, is displayed, and the area (area C, E region) may be displayed as information on the priority.

8 illustrates an example of a case in which the user selects the external vessel 780 among the sensed external vessels. Accordingly, the user may select another vessel 720-780 through a cursor (not shown) displayed on the display to display information about each vessel.

9 is a flowchart illustrating an operation principle of a navigation control system according to a modified embodiment of the present invention.

Referring to FIG. 9, a ship has a target route coordinate set in advance (S805), and a detection sensor continuously monitors each detection area 11 to 16, and senses an object or an external ship moving in each area (S810). ).

In addition, the ship collision preventer calculates a moving direction, a speed, and a distance between the vessel and the moving object sensed for each region (S815).

The controller sets an alarm distance (S820) and compares the calculated moving object or the distance between the external vessel and the vessel (S825). Here, the controller may divide the speed of an object or an external vessel moving in each area into high speed, medium speed, and low speed according to a preset threshold, and set an alarm distance corresponding to each of the divided speed levels. That is, the alarm distance may be adaptively set according to the speed of the moving object or the external ship.

Meanwhile, as a result of the comparison, when the moving object or the external vessel enters the warning distance (S825-Y), a protection time may be set (S830). Even in this case, the guard time may be set differently depending on the speed of the moving object or the external ship.

Subsequently, when the protection time has elapsed (S835-Y), and the moving object or the external ship moves in the direction of the ship (S840-Y), the controller diagnoses that there is a possibility of collision with the object or the external ship, and controls corresponding thereto. You can perform the operation.

In detail, the controller controls the alarm generator to generate an alarm (S845), and generates an alarm sound or an alarm light (lighter) inside the ship, or generates an alarm signal to the outside of the ship by illuminating a corresponding moving object or an external ship. You can.

In addition, a collision probability may be calculated for each control unit detection area (S850), and accordingly, priority may be determined for each area (S855). In detail, the controller may calculate a collision probability with respect to an object or an external vessel existing in each region, and calculate a collision probability for the corresponding region. Then, based on the calculated collision probability, the preferred order for each region can be determined. In this case, the priority of each region may be determined in the order of the lowest average value for the collision probability calculated for each of the objects or the external vessels present in each region, or in the order of the lowest collision probability value in each region.

In addition, the controller may modify the navigation route of the ship in consideration of the determined priority and predetermined target route coordinates (S860). In detail, the controller may change the navigation route of the ship to an area closest to the preset target route coordinates and having a low priority.

For example, it is determined whether a region having a lower priority is in the opposite direction to the preset target route coordinates, and if the region corresponds to the opposite direction, the region having the next rank is compared with the preset target route coordinates. Accordingly, the navigation route of the ship can be modified to the region closest to the predetermined target route coordinate among the regions of low priority.

On the other hand, the above-described configuration and described in Figures 1 to 5 can be used in combination with the embodiments shown in Figures 6 to 9.

That is, the navigation control system according to various embodiments of the present disclosure, the control operation for determining the possibility of collision with an external object or a vessel and modify the navigation route or search for a detour route according to the speed level of the external object or vessel Control action to generate an alarm or notify the user or administrator when approaching the corresponding alarm distance; Control action to generate an alarm or inform the user or administrator when an external object or vessel approaches within the alarm distance adaptively set for its speed For example, when a collision occurs, at least one of a variety of control tasks such as control tasks for notifying the external server of the collision may be performed according to the amount of impact.

In this case, as shown in FIG. 2, the navigation control system of FIGS. 6 and 7 includes a pressure sensor for sensing an impact amount of the vessel when a collision between the vessel and an object occurs, and a collision when the impact amount exceeds a preset threshold. It may further include components such as a ship collision processing unit for transmitting the occurrence information to the server of the external management authority.

In addition, the ship collision processing unit, as shown in Figure 3, the GPS receiver for receiving the position information of the vessel, the image photographing unit for photographing the sea area around the vessel, the wireless communication unit for communicating with the server of the external management organization, etc. It may further include. In this case, the controller may control the GPS receiver to record position information when a collision between a ship and an object occurs, control the image photographing unit and the wireless communication unit to capture a collision image and transmit the image to a server of an external management authority.

In addition, the control unit may perform a control operation for recognizing the possibility of collision with an external object using a light or an alarm lamp as described above, and may display various types of information on the display unit so that the operator can easily grasp. have.

As described above, according to various embodiments of the present disclosure, the flight control system may not only recognize or prevent a ship collision, but may also perform a task of predicting a collision possibility and setting a bypass route accordingly. . Therefore, the flight control can be performed so that the safe flight can be made.

Such a flight control system may be implemented as a computer equipped with a recording medium on which program code for executing the flight control methods according to the above-described embodiments is recorded.

In addition, the above-described navigation control method according to various embodiments of the present disclosure may be implemented by program codes stored in various types of recording media and executed by a microcomputer or a CPU provided in the ship.

Specifically, the code for performing the above-described flight control method may include a random access memory (RAM), a flash memory, a read only memory (ROM), an erasable programmable ROM (EPROM), an electronically erasable and programmable ROM (EPEROM), and a register. , A hard disk, a removable disk, a memory card, a USB memory, a CD-ROM, and the like, may be stored in various types of recording media readable by the terminal.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is clearly understood that the same is by way of illustration and example only and is not to be taken by way of illustration, It goes without saying that the example can be variously changed. Therefore, various modifications may be made without departing from the spirit of the invention as claimed in the claims, and such modifications should not be individually understood from the technical spirit or outlook of the invention.

111: ship collision prevention unit 112: control unit
113: ship collision processing unit 114: display unit
115: storage unit 120-125: detection sensor

Claims (12)

Sensing sensor for sensing a moving object present in the surrounding waters of the ship;
A ship collision preventing unit configured to calculate at least one of a speed of the moving object, a moving direction of the moving object, a moving direction of the ship, and a distance to the moving object when the moving object is detected;
And a controller configured to diagnose a possibility of collision with the moving object based on a calculation result of the ship collision prevention unit and to perform a control operation corresponding to the diagnosed result.
The control unit,
By dividing the surrounding seas of the vessel into a plurality of pieces, the collision probability is calculated for each of the divided seas based on the calculation result of the vessel collision prevention unit, and the priority is determined in the order of the calculated collision probability low, and the determined priority A navigation control system, characterized in that for modifying the navigation route in consideration of the ranking and the predetermined target route coordinates. The method of claim 1,
An alarm generator for generating an alarm;
The control unit,
If it is determined that the moving object has approached the alarm distance, it is diagnosed that there is a possibility of collision, the alarm generating unit is controlled to generate the alarm,
And the alarm distance is changeable. The method of claim 2,
The apparatus may further include a storage unit configured to store a plurality of preset speed levels and an alarm distance corresponding to each speed level.
The control unit,
When the moving object moves in the ship direction, an alarm distance corresponding to the speed level to which the speed of the moving object belongs among the plurality of speed levels is read from the storage unit, and the moving object approaches within the read alarm distance. And if it is determined that the collision is possible, the operation control system. The method of claim 2,
The control unit,
And adaptively change the alarm distance according to the speed of the moving object and diagnose that there is a possibility of collision if it is determined that the moving object approaches within the changed alarm distance. delete 5. The method according to any one of claims 1 to 4,
The control unit,
If the moving object is determined that the moving object has approached within the alarm distance, wait for a preset protection time, and if the moving object moves in the direction of the ship even after the protection time elapses, it is diagnosed that there is a possibility of collision Flight control system. delete The method of claim 1,
A pressure sensor for sensing an impact amount of the ship when a collision between the ship and an object occurs; And,
And a ship collision processing unit which transmits collision occurrence information to a server of an external management authority when the impact amount exceeds a predetermined threshold value. 9. The method of claim 8,
The ship collision processing unit,
A GPS receiver for receiving position information of the ship; And
And an image photographing unit photographing the sea area around the vessel.
The control unit, the navigation control system, characterized in that for controlling the GPS receiver to record the location information when the collision between the vessel and the object, and the image capture unit to control the image capture. 10. The method of claim 9,
Further comprising; a wireless communication unit for communicating with the server of the external management authority,
And the controller controls the wireless communication unit to transmit the location information and the collision image to a server of the external management authority when a collision between the vessel and the object occurs. The method of claim 2,
The control unit,
If it is determined that the object is located within the alarm distance, the operation control system, characterized in that to control the lighting provided on the vessel to illuminate a light or an alarm light in the sea area where the object is located, or to turn on or flash the lighting . The method of claim 1,
And a display unit configured to display at least one of a region in which the object is disposed, a distance or direction between the vessel and the object, a coordinate value of the object, and a speed level of the object. .

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