KR101236970B1 - Underwater object detection system and method the same - Google Patents

Abstract

The present invention relates to obstacle detection, and more particularly, to an underwater object detection system and method for detecting an obstacle present in front of a ship in two stages, and the present invention for this purpose is to detect an underwater object in front of When the first detection unit, the second detection unit for grasping the information of the underwater object, the display unit for the display of the underwater object, and the first detection unit detects the underwater object, the second detection unit is activated, and the second detection unit It includes a control unit for transmitting the identified information of the underwater object to the display unit.

Description

Underwater object detection system and its method {UNDERWATER OBJECT DETECTION SYSTEM AND METHOD THE SAME}

The present invention relates to obstacle detection, and more particularly, to an underwater object detection system and method for detecting an obstacle existing in front of a ship in two stages.

Recently, collisions of large fishing boats such as oil tankers have been occasionally occurring.

When oil tankers collide with reefs or other fishing boats, oil spills can cause serious pollution to the ocean, so economic and environmental damage is very serious.

In particular, in Korea, crude oil or natural resources are often imported from abroad, and ships are mainly used as a means of transporting them. However, there is a problem in that it is insufficient to prepare for obstacles existing in the ship because the ship is frequently operated automatically due to the long range.

Therefore, it is a very big problem that ships in automatic operation have no response to obstacles in front of them.

In addition, there is a problem that it is difficult to identify the obstacles in front of the naked eye because the visibility is limited even when a person directly operates the ship in the dark night.

In particular, since many of the ships are under the surface of the water, there is a problem that if there is an obstacle under the water, it is almost impossible for a person to identify it.

The present invention has been made to solve the problems of the prior art as described above, an object of the present invention, in particular, to provide an underwater object detection system and method for safe navigation of a ship.

To this end, the underwater object detection system according to the present invention, the first detection unit for detecting the underwater object in front of the second detection unit for identifying the information of the underwater object display unit for the display of the underwater object and the first When the detection unit detects the underwater object, it includes a control unit for starting the second detection unit, and transmits the information of the underwater object detected by the second detection unit to the display unit.

The first detection unit includes a light directing angle sensor, and the second detection unit is provided to be spaced apart by a predetermined angle from the center of the first angle, and by a unit angle by a motor in one direction of the first angle. A first high orientation angle sensor for sensing the underwater object while moving by a predetermined distance from the center of the first angle provided by a predetermined angle, moving the unit underwater by a unit angle in the other direction of the first angle A second high orientation angle sensor for detecting an object and a calculator for detecting the distance to the underwater object, the image and the position of the underwater object with the information detected by the first high orientation angle sensor and the second high orientation angle sensor to the control unit It includes.

The first angle range is 120 degrees, the preset angle is 5 degrees, and the basic angle is 10 degrees.

In addition, for this purpose, the underwater object detection method according to the present invention is a first detection process for detecting the presence of the underwater object using a light directivity angle sensor when the underwater object is detected to the underwater object using at least one high orientation angle sensor. A second detection process of grasping information about the information includes calculating a distance from the underwater object, an image and a position of the underwater object, and displaying the calculated information.

The operation may include measuring the arrival time of the ultrasonic wave reflected by the underwater object, measuring the distance from the underwater object, measuring the receiving angle of the ultrasonic wave reflected by the underwater object, and receiving the underwater object. Calculating an image of the.

The angular range in the first detection process is 120 degrees, and the first detection process and the second detection process start detection at a point 5 degrees away from the center, and the moving unit angle in the second detection process. Is 10 degrees.

According to various embodiments of the present disclosure, since obstacles above and below the sea level in front of the ship are sequentially detected through two detection units, there is an effect of preventing a collision accident of the ship.

In addition, according to various embodiments of the present disclosure, since the second detection unit is activated only when the presence of an obstacle is confirmed, power consumption may be reduced.

And according to various embodiments of the present invention, by automatically providing the user with the shape, distance, and speed of the obstacle existing in front of the ship, there is an effect that can be more efficiently to deal with the detected obstacle.

Therefore, according to the present invention, while ultimately ensuring the safe operation of the vessel there is an effect that the cost is reduced.

1 is a block diagram schematically showing an underwater object detection system according to an embodiment of the present invention.
2 is a block diagram schematically showing a first and a second detector according to an embodiment of the present invention.
3 is an exemplary view showing an example of detecting the underwater object in the underwater object detection system according to an embodiment of the present invention.
Figure 4 is an exemplary view showing an example of detecting an underwater object is provided in the ship is an underwater object detection system according to an embodiment of the present invention.
5 is an exemplary view showing a case in which the underwater object detection system according to an embodiment of the present invention (a) when the underwater object is away from the vessel and (b) the underwater object is close to the vessel.
6 is a flowchart showing a method for detecting underwater objects according to an embodiment of the present invention.
Figure 7 is a block diagram for showing the angle of the underwater object detection in the whole orientation of the ship according to another embodiment of the present invention.

Hereinafter, with reference to the accompanying drawings will be described in detail the underwater object detection system and method according to an embodiment of the present invention.

The same reference numerals are used for the same members in FIGS. 1 to 7.

The basic principle of the present invention is to provide the user with obstacle information present in the front or the forward direction of the ship by sequentially activating the two detection means.

In the following description of the present invention, detailed description of known functions and configurations incorporated herein will be omitted when it may make the subject matter of the present invention rather unclear.

1 is a block diagram schematically showing an underwater object detection system according to an embodiment of the present invention.

Referring to FIG. 1, the underwater object detection system 100 according to the present invention includes a first detection unit 110 for detecting a front underwater object, a second detection unit 120 for grasping information of an underwater object, and underwater When the display unit 130 and the first detector 110 detect the underwater object for displaying the object, the second detector 120 is activated and the information of the underwater object detected by the second detector 120 is activated. It includes a control unit 140 for transmitting to the display unit 130.

Referring to the operation of the underwater object detection system 100 according to an embodiment of the present invention configured as shown in FIG.

First, it is preferable that the first detection unit 110 includes a light directing angle ultrasonic sensor. Accordingly, the first detection unit 110 detects the presence of an underwater object such as a reef or another ship or a whale by detecting a front area of the ship in operation with the wide-angle ultrasonic sensor provided.

When the presence of the underwater object is detected by the first detector 110, the controller 140 starts the second detector 120. Then, the second detector 120 receives the signal reflected on the underwater object by turning on the plurality of high-orientation angle sensors provided, and calculates the image, the position and the distance of the underwater object to the controller 140. send.

Preferably, the plurality of high-orientation sensors each have a motor to scan underwater objects while traveling within a preset angle range.

In addition, each motor operates to move the plurality of high orientation angle sensors by a predetermined unit angle.

On the other hand, the display 130 displays an image of the underwater object transmitted from the controller 140, and also displays the position and distance.

Therefore, since the user can recognize the underwater object, the user can control the ship so as not to collide with the ship.

2 is a block diagram schematically illustrating the first and second detectors 110 and 120 according to an embodiment of the present invention.

2A is a block diagram schematically illustrating the first detector 110 according to an exemplary embodiment.

Referring to FIG. 2A, the first detector 110 according to an embodiment of the present invention includes a light directing angle sensor 111.

The first detector 110 determines whether the ultrasonic wave is reflected by the ultrasonic wave propagation in the front 120 degree range of the ship by using the optical directivity angle sensor 111 to determine whether the underwater object exists.

If the ultrasonic wave is incident on the underwater object, the first detector 110 notifies the controller 140 of the presence of the underwater object, and accordingly, the first detector 110 sends the controller 140 to the controller 140. Is turned off.

Thereafter, the controller 140 turns on the second detector 120.

2B is a block diagram schematically illustrating the second detector 120.

Referring to FIG. 2B, the second detector 120 according to an embodiment of the present invention includes a first high direction angle sensor 121, a second high direction angle sensor 122, and a calculator 123.

First, the first high orientation angle sensor 121 is provided at the front of the ship at an inclination of 5 degrees in one direction from the center of the optical orientation angle sensor 111. Similarly, the second high direction angle sensor 121 is also provided at the front of the ship at a slope of 5 degrees from the center of the light direction angle sensor 111 to the other direction. Because the first high-orientation angle sensor 121 and the second high-orientation angle sensor 122 each have a unit angle at which the provided motor moves by 10 degrees, an area detected by the two sensors 121 and 122 overlaps in the center. . For this reason, the first high orientation angle sensor 121 and the second high orientation angle sensor 122 are disposed to have an inclination of 5 degrees in one direction and the other direction to avoid an area where the two sensors 121 and 122 overlap.

As such, when the reflection angle and the velocity of the ultrasonic waves propagated by the first high orientation angle sensor 121 and the second high orientation angle sensor 122 are sensed, the calculation unit 123 based on the information, the image, position, distance, and velocity of the underwater object. Calculate and transmit to the control unit 140.

Although FIG. 2 shows that the first and second detectors 110 and 120 are provided at the front of the ship, the detector is also provided at the side and the rear of the ship to detect the presence of obstacles in all directions of the ship. It will be apparent to those skilled in the art.

3 is an exemplary view showing an example in which the underwater object detection system 100 according to an embodiment of the present invention detects an underwater object.

Referring to FIG. 3, the first optical directivity angle sensor 111 of the first detector 110 detects whether an underwater object exists in front of the ship.

Preferably, the light directivity angle sensor 111 propagates the ultrasonic waves in the region of the 120 degree angle range in front of the ship. Then, when there is an underwater object, ultrasonic waves are reflected and incident to the first detector 110, and the first detector 110 transmits the presence information of the underwater object and the direction in which the ultrasonic waves are reflected to the controller 140.

Then, the controller 140 turns off the first detector 110 and turns on the second detector 120.

The second detector 120 operates the motors provided in the first and second high orientation angle sensors 121 and 122 having the basic detection angle of 10 degrees, and the first and second high orientation angle sensors 121 and 122, respectively. Let's do it.

Here, the basic detection angle refers to the unit angle at which the motor moves. Accordingly, the first and second high orientation angle sensors 121 and 122 collect information of the underwater object while reciprocating within a predetermined angle in units of 10 degrees.

As shown in FIG. 3, the first high orientation angle sensor 121 is disposed at an angle of 5 degrees from the center to the right, and the second high orientation angle sensor 122 is also disposed at an angle of 5 degrees from the center to the left. This is because, since the basic detection angle is 10 degrees, 5 degrees to the left and right from the center is an area where the ultrasonic wave propagation areas of the first and second high orientation angle sensors 121 and 122 overlap.

As shown in FIG. 3, the first and second high orientation angle sensors 121 and 122 may scan their own sensing areas by motors provided therein. Then, the calculating unit 123 calculates the information detected by the first and second high orientation angle sensors 121 and 122, derives an image, a distance, and a velocity of the underwater object and transmits the information to the control unit 140.

Then, the controller 140 transmits the information transmitted from the calculator 123 to the display 130, and the display 130 displays the information on the screen.

4 is an exemplary view showing an example in which the underwater object detection system 100 according to an embodiment of the present invention is provided in a ship to detect an underwater object.

First, when the first detection unit 110 provided in the ship detects the presence of an underwater object and transmits it to the control unit 140, the control unit turns on the second detection unit 120.

Then, the second detector 120 operates the first and second high orientation sensors 121 and 122 to scan the underwater object from side to side. The information collected here may calculate the distance between the ship and the underwater object through the product of the speed and time. Since the speed of ultrasonic waves in water is 1500m / s, the distance to the underwater object can be known by multiplying the signal round trip time and dividing it by half.

In addition, the image of the underwater object can be known using the detected distance while rotating by the motor.

On the other hand, the scan information is transmitted to the display unit 130 by the control unit 140, the display unit 130 displays the underwater object on the screen. Therefore, the user can recognize the existence of an underwater object (reef) present in front of the ship to change the direction of the ship to prevent the accident in advance.

On the other hand, if the ultrasonic wave reflected by the underwater object is not detected by the second detector 120 for a predetermined time, the power of the second detector 120 is turned off by the controller 140, and again the first detector 110. ) Starts the operation.

5 is an exemplary view showing the underwater object detection system 100 according to an embodiment of the present invention (a) when the underwater object is away from the vessel (b) and the underwater object is close to the vessel (b).

의 식을 사용하고, 수중물체와 선박이 가까워질 경우(b)에는

의 식을 사용한다.If the underwater object is away from the ship (a)

(B) when the underwater object is close to the ship

Use the equation

Here, the theta value means the angle between the ultrasonic waves transmitted from the (user) ship and the ultrasonic waves reflected from the underwater object when the secondary object detection after the primary object detection as shown in FIG.

6 is a flowchart illustrating a method for detecting an underwater object according to an embodiment of the present invention.

Referring to FIG. 6, the underwater object detection method 600 according to an embodiment of the present invention includes a detection process of detecting the presence of an underwater object (S610), a collecting process of collecting information of the underwater object (S620), and underwater with information. The calculation process (S630) for calculating the distance to the object and the image and position of the underwater object, and the display process (S640) for displaying the calculated information.

In addition, the calculation process (S630) according to an embodiment of the present invention is a step of measuring the arrival time of the ultrasonic wave reflected by the underwater object, measuring the distance to the underwater object, the ultrasonic wave reflected by the underwater object Measuring the receiving angle of the, including the step of deriving an image of the underwater object.

Underwater object detection method 600 according to an embodiment of the present invention configured as shown in Figure 6 is performed as follows.

First, an ultrasonic signal is received by the optical steering angle sensor 111 provided in the first detector 110 (S610). Because receiving an ultrasonic signal means that an underwater object exists in front of the ship, when the ultrasonic signal is received, the first detector 110 is powered off.

Thereafter, the power is turned on to the second detector 120 to collect information about the underwater object (S620).

The second detector 120 propagates the ultrasonic signals of the high orientation angle sensors 121 and 122 and receives the reflected signal. In this case, it is preferable that the high orientation angle sensors 121 and 122 propagate ultrasonic signals while reciprocating by a predetermined angle by a motor.

Thereafter, the information on the underwater object is calculated based on the collected information (S630).

Then, the distance between the ship and the underwater object is calculated by measuring the time when the received ultrasonic signal is reached. In addition, by measuring the rotation angle of the motor to obtain an image of the underwater object. If the image of an underwater object is obtained, the size can also be known.

On the other hand, the method for determining the mobility of the underwater object is as follows.

First, the signals of the high orientation angle sensors 121 and 122 are received, and the reception frequency reflected by the underwater object is measured.

를 이용하여 물체 속도를 측정한다.After that, the distance to the underwater object is judged and the distance between the objects and the distance is closer to the Doppler frequency.

Measure the object velocity using.

Here v refers to the speed of the ultrasonic waves, typically in water proceeds at a speed of 1500m per second.

In the stationary state, the speed is 0. In the moving state, the speed of the underwater object is calculated using the Doppler frequency.

Thereafter, the distance to the underwater object, the image of the underwater object, and the speed information are displayed (S630). Then, the user can know about the underwater object in front of the displayed information, and if there is a possibility of collision with the ship, it is possible to change the direction of the ship to prevent the accident in advance.

If the ultrasonic waves propagated by the high-orientation sensors 121 and 122 are not received for a predetermined time, it is determined that there is no underwater object in the front, the power is turned off, and the first detection unit 110 is started again.

In the above-described embodiment of the present invention, only two high orientation angle sensors are illustrated, but it is apparent to those skilled in the art that the underwater object detection system according to the present invention may include a plurality of high orientation angle sensors.

7 is a block diagram illustrating an angle of underwater object detection in all directions according to another embodiment of the present invention.

Referring to FIG. 7, three first and second detectors 110 and 120 may be provided to detect the azimuth in three 120-degree units in order to detect not only the front side but also the side and the rear side of the ship.

Preferably, the first and second detectors 110 and 120 provided in the ship are identical to each other.

In FIG. 7, the detectors are arranged at 120 degrees, but a plurality of detectors may be disposed at different angle ranges.

[Table 1] below is a table showing an example of designing weights of various parameters according to various embodiments of the present disclosure.

[Table 1]

Referring to [Table 1], the number of motors and the number of high directivity angle sensors coincide.

Therefore, when one to three motors are used, when the high orientation angle sensors fixedly arranged in a round robin manner are sequentially turned on to collect obstacle information of 120 degrees forward by one sector, and two high orientation angle sensors It shows how to measure by turning on and the method of turning on three high-orientation sensors.

For reference, since the basic angle of the high-direction sensor is 10 degrees in the round robin method, 12 high-direction sensors are required when the forward measurement angle is 120 degrees.

Referring to Table 1, it can be seen that, as in an embodiment of the present invention, two motors having two high-orientation angle sensors have the highest total points.

In addition, the underwater object detection method according to various embodiments of the present invention described above, may be implemented by a program code that is stored in various types of recording media, and can be executed by a microcomputer or a CPU provided in the ship.

Specifically, the code for performing the above-described underwater object detection method may include random access memory (RAM), flash memory, read only memory (ROM), erasable programmable ROM (EPROM), electronically erasable and programmable ROM (EEPROM), It may be stored in various types of recording media readable by the terminal, such as registers, hard disks, removable disks, memory cards, USB memories, CD-ROMs, and the like.

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.

100: underwater object detection system 110: first detection unit
120: second detection unit 130: display unit
140:

Claims (6)

A first detector for detecting an underwater object in front;
A second detector for grasping the information of the underwater object;
A display unit for displaying the underwater object; And
And a controller for starting the second detection unit and transmitting information of the underwater object detected by the second detection unit to the display unit when the first detection unit detects the underwater object.
The first detection unit,
Equipped with a wide angle sensor,
The second detection unit,
A first high orientation angle sensor provided spaced apart from the center of the first angle by a predetermined angle and moving by a unit angle by a motor in one direction of the first angle to sense the underwater object;
A second high orientation angle sensor provided spaced apart from the center of the first angle by a predetermined angle and moving by a unit angle by a motor in another direction of the first angle; And
And an arithmetic unit that detects the distance between the underwater object, the image and the position of the underwater object, and transmits the information to the controller by the information detected by the first high orientation angle sensor and the second high orientation angle sensor. Detection system. delete The method of claim 1,
The first angle range is 120 degrees,
The preset angle is 5 degrees,
The unit angle is an underwater object detection system, characterized in that 10 degrees. A first detection step of detecting the presence of an underwater object using a wide angle sensor;
A second detection step of detecting information on the underwater object using at least one high orientation angle sensor when the underwater object is detected;
Calculating a distance from the underwater object and the image and position of the underwater object using the information; And
Displaying the calculated information; and a method for detecting underwater objects. The method of claim 4, wherein the operation
Measuring the arrival time of the ultrasonic wave reflected by the underwater object;
Measuring a distance to the underwater object;
Measuring a reception angle of the ultrasonic wave reflected by the underwater object; And
Calculating an image of the underwater object; the underwater object detection method comprising a. The method of claim 4, wherein the angle range in the first detection process is
120 degrees,
The second detection process,
Detection begins at a point five degrees from the center,
The moving unit angle in the second detection process is
Underwater object detection method characterized in that 10 degrees.

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