KR101245761B1 - Countermeasures system and method for pirate ship - Google Patents

Abstract

A pirate ship response system and method are disclosed.
In accordance with an aspect of the present invention, there is provided a pirate ship corresponding system that estimates an estimated moving position of a pirate ship by using a mother ship for generating pirate ship movement information captured through a radar and the pirate ship movement information received from the mother ship, and the estimated movement position of the pirate ship. And a own ship that tracks the pirate ship by performing navigation control to an expected movement position of a pirate ship, wherein the mother ship transmits a control signal for remote control of the own ship to the own ship, and the own ship owns the pirate ship movement information and the control. Set the pursuit algorithm according to the signal.

Description

Pirate ship response system and method {COUNTERMEASURES SYSTEM AND METHOD FOR PIRATE SHIP}

The present invention relates to a pirate ship response system and method thereof.

In general, long-haul ships, such as large merchant ships or cargo ships, may be exposed to attacks by pirates on the high seas.

Indeed, recent pirates have been increasingly injured by vessels navigating the Indian Ocean, and the International Maritime Bureau (IMB) is advising to ship vessels for protection from pirates.

Therefore, in the affected area, unidentified small ships approaching the ship are bound by radar or related vessels, and if small ships are identified as pirate ships, they are self-defensive to prevent access by radiating water cannons using fire hoses. In addition, when the pirate ship is close to the vessel, it uses water curtains or barbed wire on the outer wall of the vessel to prevent pirates from coming up to the ship.

However, fire hoses have a limited installation location and radiation range, and most pirate ships are small speedboats. In addition, the water curtain and barbed wire only delays the boarding time of armed pirates close to the ship, but the effect is insufficient.

However, in dangerous areas, petition police may be boarded to take care of the ship's safety, but in most cases it is not. In addition, since the pirates are armed, there is a limit to the response of the petition police, and the pirates continue to follow the merchant ship at close range and threaten them.

Therefore, in order to avoid damage to pirates, it is very important to prevent pirate ships from approaching ships and boarding them, and countermeasures are urgently needed.

An embodiment of the present invention is to provide a system and method for actively responding to the pirate ship using a lifeboat provided in the vessel.

According to an aspect of the invention, the mother ship for generating pirate ship movement information captured through the radar; And a own ship which estimates an estimated moving position of the pirate ship by using the pirate ship moving information received from the mother ship, and performs a navigation control to the estimated moving position of the pirate ship to pursue the pirate ship. And a control signal for remotely controlling the own ship to the own ship, wherein the own ship sets a chase algorithm according to the pirate ship movement information and the control signal.

A mother ship transmitting control signals for operating the own ship and pirate ship movement information captured through the radar to the own ship; And a pirate ship which grasps the control signal received from the mother ship and the pirate ship movement information, estimates an expected movement position of the pirate ship, and performs a navigation control to the estimated movement position of the pirate ship to pursue the pirate ship. Provide a response system.

In addition, the bus bar, the radar for measuring at least one of the orientation, distance and shape from the bus bar through the radio wave reflection of the pirate ship; An input unit for inputting the control signal for remotely controlling the own ship; A controller configured to generate the control signal and generate the pirate ship movement information including at least one of a position (coordinate), a course and a speed of the pirate ship based on the position information of the mother ship and the orientation and distance information of the pirate ship; And a communication unit transmitting the control signal and the location information to the own ship through wireless communication.

The controller may estimate size information including at least one of the full length and the full width of the pirate ship according to the form, and the communication unit may transmit the size information to the own ship.

The magnetic line may include: a modem unit configured to receive at least one of the control signal, pirate ship movement information, and size information by performing wireless communication with the bus line through an antenna; An engine unit for driving a propeller to generate thrust for movement of the own ship; A rudder driver for adjusting a moving direction of the own ship by rotating the rudder; And a controller configured to determine the position, course, and speed of the own ship using a global positioning system (GPS) and a gyro sensor, and to control the engine unit and the rudder based on the chase algorithm. And a plurality of ballast tanks, and may include a buoyancy control unit for adjusting the buoyancy by the amount of seawater entering and exiting through the seawater inlet of each tank.

In addition, the controller may compare the current position of the own ship with the expected moving position of the pirate ship after a predetermined time, and calculate a pursuit path for moving the own ship to the expected moving position of the pirate ship after the predetermined time. .

In addition, the controller, while setting the battlefield and the full width of the pirate ship around the coordinates of the position of the pirate ship, and extends the battlefield in the direction of the pirate ship to set the bow and stern, according to the control signal for the player chasing algorithm of the pirate ship Alternatively, navigation control by any one of the stern chasing algorithms may be performed.

In addition, the charity may further include an anti-ballistic hull portion of the bulletproof material, and may include a bulletproof transparent enclosure that protects the reinforcement against the collision and communication equipment and imaging equipment.

In addition, the own ship is a lifeboat mounted on the mother ship can be launched by a davit (davit).

On the other hand, according to another aspect of the present invention, in the method in which the mother ship and the own ship mounted on the mother ship are linked to respond to the pirate ship,

a) transmitting the pirate ship movement information captured by the mother ship through the control signal for operating the own ship and the radar to the own ship; b) the ship owns the position, the course and the speed using a GPS (Global Positioning System) and a gyro sensor, and estimates the estimated moving position after a predetermined time based on the pirate ship movement information received from the mother ship; c) generating a pursuit path for the own ship to reach the expected moving position at a predetermined time according to the control signal; And d) chasing the pirate ship by performing navigation control to the anticipated moving position of the pirate ship.

In addition, step c) may include executing a pirate ship pursuit algorithm set according to the control signal; And comparing a current position of the own ship with an expected moving position of the pirate ship based on the pursuit algorithm, and calculating a tracking course and a speed for moving to the expected moving position of the pirate ship after the predetermined time. .

Also, the step a) may further include estimating size information according to the shape of the pirate ship using the radar and transmitting the same to the own ship.

In addition, the step b), the step of setting the bow and stern generation conditions of the pirate ship by reflecting the pirate ship size information on the position and course of the pirate ship; And generating relative bow coordinates and stern coordinates based on the position coordinates of the pirate ship according to the condition.

In addition, step c), the step of analyzing the control signal to confirm the pursuit command for any one of the hull, the bow and the stern of the pirate ship; And determining one of the position (hull center) coordinates, the bow coordinates, and the stern coordinates of the pirate ship as the expected movement position in response to the pursuit command.

In addition, the step d) may selectively follow any part of the hull, the bow and the stern of the pirate ship according to the pursuit command.

In addition, after the step d), the own ship may change the pursuit path in response to the expected moving position changed by the change of the movement information of the pirate ship.

The embodiment of the present invention can actively respond to the threat of pirate ships by causing a collision between the mother ship and the own ship to cause a collision to the pirate ship approaching the ship or to interfere with the course.

Especially at sea, even if a ship collides, it can pose a significant threat.If the pirate ship is not fixed, it is difficult to use a hook and rope to board a ship several ten meters high. It has the effect of defeating pirates' will to board by pushing or threatening them.

In addition, it is possible to prevent the pirate ship from approaching in various ways depending on the situation through an algorithm for selectively chasing the bow portion and the stern portion of the pirate ship according to the position of the mother ship, the own ship and the pirate ship.

1 is a conceptual diagram illustrating a pirate ship response system according to an embodiment of the present invention.
2 and 3 will be described the configuration of the mother ship and the own ship according to an embodiment of the present invention.
3 is a block diagram schematically illustrating a structure of a own ship according to an exemplary embodiment of the present invention.
4 is a conceptual diagram illustrating a hull tracking algorithm of a pirate ship according to an embodiment of the present invention.
5 shows a method of estimating size information of a pirate ship according to an embodiment of the present invention.
6 is a conceptual diagram illustrating a stern chasing algorithm of a pirate ship according to an embodiment of the present invention.
7 is a flowchart illustrating a pirate ship correspondence method according to an embodiment of the present invention.
8 is a flowchart illustrating a stern pursuit method of the pirate ship corresponding method according to an embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those skilled in the art can easily carry out the present invention. As those skilled in the art would realize, the described embodiments may be modified in various different ways, all without departing from the spirit or scope of the present invention. In the drawings, parts irrelevant to the description are omitted in order to clearly describe the present invention, and like reference numerals designate like parts throughout the specification.

Throughout the specification, when a part is said to "include" a certain component, it means that it can further include other components, except to exclude other components unless otherwise stated. Also, the terms " part, "" module," and " module ", etc. in the specification mean a unit for processing at least one function or operation and may be implemented by hardware or software or a combination of hardware and software have.

Now, a pirate ship response system and method thereof according to an embodiment of the present invention will be described in detail with reference to the accompanying drawings.

1 is a conceptual diagram illustrating a pirate ship response system according to an embodiment of the present invention.

Pirate ship response system according to an embodiment of the present invention is to respond to the threat of pirate ships by causing a collision between the ship and the lifeboat mounted on the ship, and the collision of the lifeboat launched by the control of the ship approaching the pirate ship.

Hereinafter, in the whole specification, the said vessel (merchant ship) is a mother ship, and the lifeboat which is mounted in a mother ship and operates at the time of emergency is named as own ship.

Referring to FIG. 1, a pirate counterpart system according to an exemplary embodiment of the present invention includes a mothership 100 and a own ship 200.

The mother ship 100 transmits the control signal for operating the own ship 200 and the movement information of the pirate ship 10 captured through the radar to the own ship 200 in real time.

The own ship 200 is equipped with a wireless modem capable of real-time communication with the mother ship, grasps the position, course, and speed of the pirate ship 10, and performs navigation control according to a preset chase algorithm to cause a collision to the pirate ship 10 or Interfering with access to the mothership 100.

Here, the pursuit means that the own ship 200 tracks the location of the pirate ship 10 and moves to the location of the pirate ship 10 to perform self-defensive responses such as collision, contact, course interruption, and pushing. Thus, the pirate response system according to an embodiment of the present invention can actively cope with the threat of pirates through the charity 200 by interlocking the mothership 100 and the charity 200.

On the other hand, with reference to Figures 2 and 3 will be described the configuration of the bus bar 100 and the own ship 200 according to an embodiment of the present invention.

2 is a block diagram schematically illustrating a bus bar according to an exemplary embodiment of the present invention.

Referring to FIG. 2, the bus bar 100 according to an embodiment of the present invention includes a radar 110, an input unit 120, a controller 130, a communication unit 140, and a night vision unit 150.

The radar 110 is mounted on the bus bar to radiate radio waves and measure the azimuth, distance, and shape from the bus bar through radio wave reflections by the pirate ship. Here, the shape means the propagation size reflected from the pirate ship.

In general, the pirate ship uses a small ship that minimizes the reflection of the radar radio waves in order not to be captured by the radar 110.

Radar 110, even if the pirate ship is made of a small ship can usually grasp the position at a distance of 1 ~ 2 NM (Nortical Mile) in terms of the performance of commercial ship radar. In addition, at such a distance, the presence of pirates can be determined by the association.

In addition, the radar 110 may automatically determine a ship suspected of being a pirate ship by analyzing the speed or the moving direction of the ship within about 10 km at night by interlocking with the high-definition night vision unit 150 for ships. In addition, the radar 110 may update the position of the pirate ship 10 by about 1.25 seconds by rotating the antenna at a rotational speed of 48 RPM by applying a high speed X-band radar.

The input unit 120 is an operation means for inputting a command for system control, and inputs a control command for remotely controlling the own ship 200 automatically or manually.

The input unit 120 inputs a control command that collides with the pirate ship according to a preset chase algorithm when controlling the own ship in the automatic mode. In addition, the input unit 120 may be connected to a remote control module (not shown) such as a joystick to input a control signal when controlling the own ship 200 in a manual mode.

The controller 130 includes the position (coordinate), course and speed of the pirate ship 10 based on the GPS (Global Positioning System) position information of the mother ship and the orientation and distance information of the pirate ship 10 measured by the radar 110. Calculates the movement information, and estimates the size information of the pirate ship according to the form.

The controller 130 generates a control signal for controlling the own ship 200 in an automatic / manual mode. The control signal in the automatic mode may be classified into a chase algorithm for the hull, the bow and the stern of the pirate ship.

Here, the tracking algorithm for the hull is to perform navigation control so that the own ship 200 collides with the pirate ship 10 at the expected moving position in consideration of the pirate ship movement information. Similarly, the tracking algorithm for the bow and stern is to perform navigation control to cause the own ship 200 to collide at the bow and stern points of the pirate ship 10 in consideration of the pirate ship movement information. This is explained in detail later.

The communicator 140 transmits the control signal, the location information, and the size information generated by the controller 130 to the own ship through wireless communication.

The system configuration of the above-described mothership 100 described only the essential configuration for the control of the own vessel 200 according to an embodiment of the present invention, but is not limited thereto, and is known as a central system in charge of the overall operation for driving the mothership. Various configurations may be further included.

On the other hand, the mother ship 100 is equipped with a charity (eg lifeboat) so that the crew / passengers can evacuate in case of wreck.

The charity is equipped with a GPS that is a position sensor, and is equipped with a radio that can communicate with the outside as well as the engine is mounted can be operated by magnetic force. These charities are launched into the sea in need of a crane using a davit.

Charity 200 according to an embodiment of the present invention is remotely controlled by the mothership 100 in the unattended state without a passenger when responding to the threat of pirate ship 10 includes the following configuration.

3 is a block diagram schematically illustrating a structure of a own ship according to an exemplary embodiment of the present invention.

Referring to FIG. 3, the own ship 200 according to an embodiment of the present invention includes a GPS 210, a gyro sensor 220, a modem unit 230, an engine unit 240, a rudder driver 250, a controller. 260, a buoyancy control unit 270 and the hull unit 280.

The GPS 210 measures the position and speed of the own ship 200.

The gyro sensor 220 measures the moving direction of the own ship 200.

The modem unit 230 performs at least one of a control signal for actively responding to the pirate ship through the antenna 231 and a position (coordinate), course and speed of the real-time pirate ship 10. Receives pirate ship movement information, including.

The engine unit 240 drives the propeller 241 configured at the stern to generate thrust for the movement of the own ship 200. The engine unit 240 adjusts the amount of rotation of the propeller 241 according to the speed control of the controller 260.

The rudder driver 250 may be configured as a servo motor, and adjusts the moving direction of the own ship 200 by rotating the rudder 251 connected to the axis from side to side according to the direction control of the controller 260.

The controller 260 detects the position and speed of the own ship 200 using the GPS 210 and the movement direction of the own ship 200 using the gyro sensor 220. Then, the pirate ship movement information periodically received from the bus bar 100 is updated.

The controller 260 is the engine unit 240 and the rudder to maintain the course and speed of the own vessel 200 calculated based on the tracking algorithm set by the position of the own vessel 200, pirate ship movement information and the control signal of the mother ship 100. Navigation control of the driving unit 250 guides the own ship 200 to the expected position of the pirate ship 10 to cause a collision.

The buoyancy control unit 270 includes a plurality of ballast tanks, and adjusts the buoyancy by the amount of seawater entering / exiting through the seawater inlet of each tank. The buoyancy control unit 270 may adjust the buoyancy to balance when the charity 200 is physically damaged and tilted or flipped over.

The hull portion 280 is a body (body) forming the outer shape of the charity 200 as a whole of the curved paper is formed of a material that does not penetrate the external impact such as firearms. In addition, it may be configured in a fully closed type that is not opened inside so that pirates may not board a ship at the time of contact with the pirate ship.

In addition, the hull portion 280 is made of a bulletproof material, and the communication equipment such as a reinforcement 281 and GPS 210, the antenna 231 and the video equipment such as a camera (not shown) that is installed in front of the collision Bulletproof transparent enclosure 282 to protect against external attack.

On the other hand, the pirate ship corresponding system according to an embodiment of the present invention can perform the pursuit of the hull, the bow and the stern of the pirate ship according to the above-described configuration, this tracking algorithm will be described with reference to Figures 4 to 6 below.

First, Figure 4 is a conceptual diagram showing a hull chase algorithm of the pirate ship according to an embodiment of the present invention.

Referring to FIG. 4, the controller 260 according to an embodiment of the present invention extracts the position (x2, y2), course 2, and velocity 2 of the pirate ship 10 from the pirate ship movement information received from the mother ship 100. Then, the estimated moving positions x3 and y3, the course 3, and the speed 3 of the pirate ship 10 after an arbitrary time t are calculated. In addition, the controller 260 compares the current position (x1, y1) of the own ship 200 with the expected moving position (x3, y3) of the pirate ship 10 and after the predetermined time (t) of the pirate ship 10 Calculate course 1 and velocity 1 to reach the expected travel position (x3, y3). Here, the arbitrary time t is set in consideration of the speed limit range of the own ship 200 and the distance between the pirate ship 10 and can be obtained as a data value through experiments and simulations.

That is, the controller 260 calculates the course and speed of the own ship 200 targeting the expected position according to the movement information of the pirate ship, and accordingly, performs navigation control for the engine unit 240 and the rudder driver 250. To pursue the pirate ship (10).

Next, FIG. 5 shows a method of estimating size information of a pirate ship according to an embodiment of the present invention.

Referring to FIG. 5, the controller 260 of the own ship 200 according to an embodiment of the present invention may receive pirate ship movement information and estimated pirate ship size information of the pirate ship, and based on this, the bow and stern of the pirate ship may be used. Can be distinguished. Here, the size information of the pirate ship includes the full length and the full width.

The controller 260 generates the bow coordinates a and the stern coordinates b by reflecting the length of the battlefield in the longitudinal direction of the course about the position (coordinate) of the pirate ship 10. In addition, the full width coordinates (c, d) perpendicular to the longitudinal direction of the course around the position of the pirate ship 10 is generated. The coordinates (a, b, c, d) is a relative coordinate based on the position coordinates of the pirate ship 10, the bow and the stern is divided in the direction of the course.

Next, Figure 6 is a conceptual diagram showing a stern chasing algorithm of the pirate ship according to an embodiment of the present invention.

Referring to FIG. 6, the controller 260 of the own ship 200 according to an embodiment of the present invention receives a control signal according to the stern chase algorithm of the pirate ship 10 from the mother ship 100. Then, the pirate ship 10 extracts the position (x2, y2), the course 2 and the speed 2 of the pirate ship 10 received from the mother ship 100, the athlete based on the position (x2, y2) of the pirate ship 10 Coordinates (a) and stern coordinates (b) are generated.

Then, the controller 260 calculates the estimated moving position b ', the course 3, and the speed 3 of the stern coordinate b of the pirate ship 10 after a predetermined time t. Then, the controller 260 compares the current position (x1, y1) of the own ship 200 with the expected moving position (b ') of the pirate ship stern coordinates to reach the pirate ship stern after the arbitrary time (t) Calculate 1 and Speed 1 to pursue the stern of the pirate ship.

In addition, according to an aspect of the present invention, the controller 260 of the own ship 200 with reference to the above method receives the control signal according to the bow tracking algorithm of the pirate ship 10 from the mother ship 100 to the bow portion of the pirate ship You can also chase.

Accordingly, the mother ship 100 transmits a control signal to the own ship 200 to selectively follow the bow or the stern portion of the pirate ship 10 according to the position of the approaching pirate ship 10 and the position of the own ship 200. In addition, the charity 200 may perform an efficient response through the route control according to the pursuit algorithm.

On the other hand, Figure 7 is a flow chart showing a pirate ship corresponding method according to an embodiment of the present invention.

Referring to FIG. 7, when the mother ship 100 identifies the pirate ship 10 through the radar 110, the mother ship 100 launches the own ship 200 for the pirate ship correspondence.

The mother ship 100 measures the position of the pirate ship 10 using the radar 110 (S101), generates a control signal and pirate ship movement information (S102), and transmits it to the own ship 200 through wireless communication ( S103). At this time, the pirate ship information repeats the steps S101 to S103 according to the measurement period of the radar 110 until the emergency situation caused by the pirate ship 10 is terminated, the control signal is at the beginning of the command or change the command Can be sent.

The own ship 200 measures the position, course and speed of the own ship 200 using the GPS 210 and the gyro sensor 220 (S104). In addition, by receiving a control signal and pirate ship movement information according to the pirate ship pursuit algorithm from the mother ship 100, and grasping the pirate ship position, course and speed (S105).

The own ship 200 calculates the expected moving position of the pirate ship after a predetermined time t according to the hull chase algorithm preset with the control signal (S106). Then, the position of the own vessel 200 and the estimated movement position are compared and calculated, and after the predetermined time t, the own vessel 200 generates a course and a speed for reaching the expected movement position (S107).

Then, the own ship 200 performs navigation control so as to collide with the pirate ship 10 at the expected moving position according to its own course and speed (chase path) and the hull chase algorithm (S108). The charity 200 repeats the steps S104 to S108 until the pursuit success. At this time, the estimated moving position estimated according to the course and speed change of the pirate ship 10 can be changed, the charity 200 can be tracked by appropriately changing the course and speed in response to this change.

Subsequently, the charity 200 succeeds in pursuing the pirate ship 10 (S109; YES), and transmits the chasing completion message to the mothership 100 and waits for the next command (S110).

Meanwhile, according to one embodiment of the present invention, the own ship 200 may further perform two chase algorithms of the bow chase method and the stern chase method of the pirate ship 10 in addition to the hull chase algorithm according to the control signal.

8 is a flowchart illustrating a stern pursuit method of the pirate ship corresponding method according to an embodiment of the present invention.

Referring to FIG. 8, a process of launching the own ship 200 by identifying the pirate ship and generating the movement information and the control signal of the pirate ship using the radar is shown in FIG. 7. Same as (S201, S202).

Here, the mother ship 100 estimates the size information of the pirate ship 10 through the shape and the view of the pirate ship 10 measured by the radar 110 (S203).

The mother bus 100 transmits control signals, pirate ship movement information, and size information through wireless communication (S204). At this time, the pirate ship movement information is periodically updated until the emergency situation caused by the pirate ship 10, the control signal and size information can be transmitted only at the beginning of the transmission.

The own ship 200 measures the position, course and speed of the own ship 200 using the GPS 210 and the gyro sensor 220 (S205). In addition, the pirate ship movement information received from the mother ship 100 to analyze the pirate ship position, course and speed (S206).

The charity 200 sets the conditions for generating the bow and the stern by reflecting the pirate ship size information on the position and course of the pirate ship (S207). For example, when the total length of the pirate ship is 10M, the point extending 5M forward and backward in the longitudinal direction of the course about the position (coordinate) of the pirate ship 10 is set as the bow and stern generation conditions.

In addition, when the ship 200 analyzes the received control signal and confirms it as a stern chase command (S208), the ship 200 calculates the expected stern position of the pirate ship after a predetermined time according to a predetermined stern chase algorithm (S209). In other words, the expected position of the stern is determined by the relative coordinates of the 5M rear point in the direction of the course of the pirate ship expected moving position (coordinate) according to the stern setting.

The own ship 200 compares its own position with the estimated moving position of the stern portion of the pirate ship, and generates a pursuit path for the own ship 200 to reach the expected position of the stern after the random time t. S210).

The own ship 200 performs navigation control to collide with the pirate ship 10 at the expected position of the stern according to its own course and speed and the stern chase algorithm (S211). The charity 200 repeats steps S205 to S211 until the chase is successful.

Subsequently, when the chase is successful due to the collision with the pirate ship 10 (S212; YES), the charity 200 transmits the chase completion message to the mothership 100 and waits for the next command (S213).

On the other hand, the pirate ship corresponding system according to an embodiment of the present invention according to the player pursuit command of the mother ship 100 may be chasing the player of the pirate ship 10 through the player pursuit algorithm, such a player pursuit method Since it is predictable through FIG. 8, a detailed description thereof will be omitted.

As described above, the pirate response system according to an embodiment of the present invention has the effect of actively responding to the threat of pirate ships by causing a collision between the mother ship and the own ship mounted on the mother ship and causing a collision or obstructing a pirate ship approaching the ship. .

In addition, at sea, a collision of ships can be enough to threaten them, and it is difficult to use a hook and a rope to board a ship of tens of meters in height when the pirate ship is not fixed. It is effective to neutralize pirates' will to board by paying or threatening.

In addition, through the algorithm to selectively follow the bow portion and stern portion of the pirate ship according to the position of the mother ship, charity and pirate ship can be expected to effectively prevent the pirate ship in a variety of situations depending on the situation.

In the above-described embodiment of the present invention, the own ship 200 has been described as an example of a lifeboat, but the present invention is not limited thereto and may be manufactured as an escort marine robot having the same structure.

In addition, the embodiment of the present invention is not implemented only through the apparatus and / or method described above, but through a program for realizing a function corresponding to the configuration of the embodiment of the present invention, a recording medium on which the program is recorded, and the like. The implementation may be easily implemented by those skilled in the art from the description of the above-described embodiments.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, It belongs to the scope of right.

100: Mothership
110: radar 120: input unit 130: control unit
140: communication unit 150: night vision unit
200: charity
210: GPS 220: gyro sensor 230: modem unit
240: engine unit 250: rudder drive unit 260: buoyancy adjustment unit
270: controller 280: hull portion

Claims (15)

A mothership generating pirate ship movement information captured through the radar; And
And using the pirate ship movement information received from the mother ship to estimate an expected movement position of the pirate ship, and perform a navigation control to the estimated movement position of the pirate ship to track the pirate ship,
The mother ship transmits a control signal for remote control of the own ship to the own ship, and the own ship sets a chase algorithm according to the pirate ship movement information and the control signal, wherein the chase algorithm is a player chase algorithm and a stern of the pirate ship. And a pursuit algorithm, wherein the pirate ship corresponding system selectively purges any part of the hull center, the bow, and the stern of the pirate ship according to the pursuit command applied from the mother ship. The method of claim 1,
The bus bar is,
A radar measuring at least one of azimuth, distance, and shape from the mother ship through radio wave reflection of the pirate ship;
An input unit for inputting the control signal for remotely controlling the own ship;
A controller configured to generate the control signal and generate the pirate ship movement information including at least one of a position (coordinate), a course and a speed of the pirate ship based on the position information of the mother ship and the orientation and distance information of the pirate ship; And
Communication unit for transmitting the control signal and location information to the own ship through wireless communication
Pirate ship corresponding system comprising a. The method of claim 2,
The controller estimates the size information including at least one of the full length and the full width of the pirate ship according to the form,
And the communication unit transmits the size information to the own ship. The method according to claim 1 or 3,
The charity,
A modem unit performing wireless communication with the bus bar through an antenna to receive at least one of the control signal, pirate ship movement information, and size information;
An engine unit for driving a propeller to generate thrust for movement of the own ship;
A rudder driver for adjusting a moving direction of the own ship by rotating the rudder; And
A controller for grasping the position, course and speed of the own ship using a Global Positioning System (GPS) and a gyro sensor, and controlling the engine unit and the rudder based on the chase algorithm; And
Buoyancy control unit including a plurality of ballast tanks to adjust the buoyancy by the amount of seawater coming in through the seawater inlet of each tank
Pirate ship response system comprising a The method of claim 4, wherein
The controller,
A pirate ship corresponding system, comparing a current position of the own ship with an expected moving position of the pirate ship after a predetermined time, and calculating a pursuit path for moving the own ship to the expected moving position of the pirate ship after the predetermined time; . The method of claim 5, wherein
The controller,
Pirate ship corresponding system, characterized in that for setting the battlefield and full width of the pirate ship centering on the position coordinates of the pirate ship, extending the battlefield in the direction of the pirate ship course. The method of claim 4, wherein
The charity,
Pirate ship response system further comprises a bulletproof material of the totally enclosed hull, comprising a bulletproof transparent enclosure to protect the communication equipment and video equipment and reinforcement against collision. The method of claim 1,
The charity,
Pirate ship response system characterized in that the lifeboat is mounted on the mother ship and launched by a davit (davit). In the method of the mother ship and the own ship mounted on the mother ship to correspond to the pirate ship,
a) transmitting the pirate ship movement information captured by the mother ship through the control signal for operating the own ship and the radar to the own ship;
b) the ship owns the position, the course and the speed using a GPS (Global Positioning System) and a gyro sensor, and estimates the estimated moving position after a predetermined time based on the pirate ship movement information received from the mother ship;
c) generating a pursuit path for the own ship to reach the expected moving position at a predetermined time according to the control signal; And
d) chasing the pirate ship by performing navigation control to the anticipated movement position of the pirate ship, wherein the ship owns the hull, the bow and the stern of the pirate ship according to a preset pursuit algorithm and a pursuit command applied from the mother ship. Corresponding pirate ship method, characterized in that the pursuit of any one site selectively. The method of claim 9,
The step c)
Executing a pirate ship pursuit algorithm set according to the control signal; And
Comparing the current position of the own ship with the expected movement position of the pirate ship and calculating a pursuit course and a speed for moving to the expected movement position of the pirate ship after the predetermined time based on the pursuit algorithm;
Pirate ship corresponding method comprising a. 11. The method according to claim 9 or 10,
The step a)
And estimating size information according to the shape of the pirate ship using the radar and transmitting the size information to the own ship. The method of claim 11,
The step b)
Setting the bow and stern generation conditions of the pirate ship by reflecting the pirate ship size information on the position and course of the pirate ship; And
Generating relative bow coordinates and stern coordinates based on the position coordinates of the pirate ship according to the above conditions
Pirate ship corresponding method comprising a. 13. The method of claim 12,
The step c)
Analyzing the control signal to identify a pursuit command for any one of the hull, the bow and the stern of the pirate ship; And
Determining any one of a position (hull center) coordinate, a bow coordinate, and a stern coordinate of the pirate ship as the expected movement position in response to the pursuit command;
Pirate ship corresponding method comprising a. delete The method of claim 9,
After the step d)
The ship owns the pirate ship corresponding method, characterized in that for changing the pursuit path corresponding to the expected moving position changes by the change of the movement information of the pirate ship.

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