KR101404689B1 - Vessel monitoring system and method thereof - Google Patents

Abstract

The present invention relates to a ship surveillance system and a surveillance method. The present invention is an invention in which, in an environment in which a ship is divided into a mothership and a charity, the charity traces and monitors the monitored vessel by receiving the information required by the charity using resources of the mothership. To accomplish this, a bus 100 having a radar and an electronic chart system for detecting a target, a bus 100 for transmitting and receiving data to and from the bus 100, A ship surveillance system comprising a plurality of busbars (200) having a portable device (220) for receiving and displaying image information in which a radar image and electronic beep information are superimposed. According to the present invention, it is possible to efficiently perform tracking and monitoring of a monitored ship at low cost, and to remarkably reduce equipment purchase and installation costs and operating costs.

Description

[0001] VESSEL MONITORING SYSTEM AND METHOD THEREOF [0002]

The present invention relates to a ship surveillance system, and more particularly, to a ship surveillance system, in which, when a ship is operated by a mothership and a charity, a charity provides information superimposed on a radar image and an electronic chart information on a charity basis, And more particularly, to a ship surveillance system and a method thereof, in which a mother ship can confirm the surrounding environment of a charity in real time.

In the case where the ship is separated and operated by a mother ship and a charity, most charitals are equipped with only a minimum amount of navigation communication equipment such as small ship radar equipment due to the narrow space. However, charities such as high-speed assertions used by marine police require high-performance radar images as well as radar image and electronic chart superimposed information in order to effectively monitor and track illegal fishing boats. Nevertheless, because of its nature, high speed maneuvering must be capable of high-speed maneuvering, so that only necessary equipment such as radar is installed as described above, and the related tasks are performed using only the images obtained through such equipment. In this case, the charity utilizes only the radar image obtained through the small radar equipment, so that the range of the monitoring target is limited and the image quality is poor. Also, there is a problem that the charity can not accurately confirm the position of the charity using the electronic chart. If you install all the equipment needed for high-speed assemble, you can not expect high-speed maneuvering at high speed.

The charity also performs the given task away from the bus. At this time, the report to the mother ship during the mission or the current situation at the time of start-up is usually communicated using a radio or the like. However, due to the nature of the marine environment, communication may not be performed normally due to various reasons. In addition, even if the mother ship and the charity communicate, since the mother ship receives information from the charity only through the voice information only, the information on the surrounding situation of the charity can not be confirmed in detail on the mother ship.

Therefore, in the condition that the ship is separated and operated by the mother ship and the charity, the charity needs high performance radar image and information that superimposes the electronic chart on the radar equipment in order to effectively monitor and track the monitored ship. In addition, it is necessary to monitor the current situation by providing the environment around the charity in real time through video information, not voice information.

SUMMARY OF THE INVENTION It is an object of the present invention to solve the above-mentioned problems, and it is an object of the present invention to provide an apparatus and a method for solving the above problems, wherein a charity needs a charity even in an environment where a small- Is provided from the bus and used.

Another object of the present invention is to provide real time surveillance by receiving information about the surrounding environment of at least one charity line by a bus.

According to an aspect of the present invention, there is provided a navigation system comprising: a first navigation ship having a radar and an electronic chart system for detecting a maritime navigation target; And transmitting and receiving data to and from the first navigation ship, receiving image information in which the radar image and the electronic map information, which are corrected according to the current location information of the charity being sailed from the first navigation ship, are overlapped, There is provided a marine vessel monitoring system including a second operating vessel having a mobile device for monitoring a target vessel.

According to another aspect of the present invention, there is provided a navigation system comprising: a first navigation ship having a radar for detecting a maritime navigation target; And transmits and receives data to and from the first navigation ship, generates a radar image corrected based on the current location information of the navigation navigation, superimposes the received radar image on the electronic navigational information provided from the first navigation ship, A second navigation ship having a portable device for monitoring a monitored ship.

Wherein the first operating vessel further comprises a vessel information receiving unit for collecting vessel information and an information processing unit for obtaining only valid information related to the vessel monitoring from the collected vessel information, On the display unit.

The first navigation ship further includes a radar image processing unit for converting the scanned information of the radar into an image form that can be displayed on a screen, and the image form is converted into a screen form of a horizontal scan on a plane .

The navigation system according to claim 1, further comprising a GPS (GPS) for acquiring current position information of a charity line as a coordinate value, wherein the first navigation vessel And the radar image is corrected.

The second operating vessel may further include a radar remote control unit for controlling the function of the radar or generating a control command to select a monitored vessel to be monitored by the second operating vessel, And controls the detailed function of the radar or acquires information about the monitored vessel according to the control command and transmits the acquired information to the second operated vessel.

The second navigation ship further includes a camera for photographing the environment of the charity, and the first navigation ship receives information photographed from the camera in real time and monitors the current status of the second navigation ship .

In addition, when the radar image transmitted from the first navigation ship and the electronic chart information regarding the position of the current charity line are different from each other, the second navigational vessel calibrates the radar image transmitted from the first navigation vessel based on the position of the charity line Wherein the image correction unit corrects the radar image transmitted from the first navigation ship in accordance with the reference image of the electronic chart to be superimposed, And corrects the radar image transmitted from the first navigation vessel using the radar image.

According to still another aspect of the present invention, there is provided a method of transmitting a GPS navigation system, comprising: transmitting a GPS coordinate value of a charity ship to a first operating vessel; Acquiring a radar image of an area where the second navigation ship is located using the GPS coordinate value of the first navigation ship; Generating image information by superimposing the electronic chart of the radar image and the current position of the second operated ship on the first operated ship; And the first operating vessel displays the image information on the mobile device of the second operating vessel to monitor and track the vessel to be monitored by the second operating vessel.

Further, the present invention may further include a step of photographing a surrounding environment of the second operated ship; Transmitting the photographed information to the first operating vessel; And monitoring the surrounding environment of the second operated vessel by the first operated vessel.

The second navigation ship may receive the radar image from the first navigation ship and display image information by superimposing the radar image on the electronic chart displayed on the portable device.

Also, the second operated ship can receive ship information about the ship to be monitored from the first operated ship and superimpose it on the electronic chart or image information displayed on the mobile device.

In the present invention, under the condition that the ship is divided into a bus and a charger, even in an environment where the space is narrow or expensive equipment can not be installed due to the characteristics of the charity, the charity is required to be supplied from a high performance radar Since the information is received and utilized through the portable device, there is an effect that tracking and monitoring of the monitored ship through the image information of high image quality at low cost can be efficiently performed.

In addition, since the bus can transmit information processed by the charity through a plurality of charities, it is not necessary to install high-performance equipment for tracking and monitoring the monitored vessels for each charity, so that the cost of purchasing and installing the equipment, It is possible to expect an effect of remarkably reducing the cost.

In addition, since the present invention can receive real-time image information from the charger, the present invention can effectively monitor the current state of the charity.

1 is an overall configuration diagram of a ship surveillance system according to an embodiment of the present invention;
Fig. 2 is a detailed block diagram of a configuration for monitoring a ship installed on a bus and a charger in Fig. 1
3 is a flow chart for monitoring a ship in accordance with an embodiment of the present invention.
FIG. 4 is an exemplary diagram showing a state in which a radar image and an electronic chart are superimposed according to the present invention. FIG.
FIG. 5 is a flowchart illustrating a method for displaying monitored vessel and AIS information in image information according to the present invention.
FIG. 6 is a diagram illustrating an example of a state in which tracking information on a ship to be inspected 300 is displayed according to the present invention. FIG.
7 is a flow chart illustrating a process of remotely operating a radar according to the present invention.
8 is a diagram illustrating an image correction technique for mapping a reference image on an electronic chart to a reference image on a radar image according to the present invention
9 is a diagram illustrating an image correction technique for mapping image information using eigenvalues and coordinate values of a char- acter according to the present invention

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, preferred embodiments of a ship surveillance system and method according to the present invention will be described in detail with reference to the accompanying drawings.

For convenience of description, the embodiment of the present invention will be described by taking as an example a case where a ship is separated and operated by a bus (i.e., a first mobile body) and a charity ship (i.e., a second mobile body). Charity runs on multiple buses around the bus. However, the present invention is not limited to vessels divided into a ship and a charity, but can be applied to a portable system such as VTS (Vessel Traffic Service) and CITS (Cost Intelligent Transport System) which are operated in the harbor and the coast. .

FIG. 1 shows an overall configuration of a marine vessel monitoring system according to an embodiment of the present invention. As shown in FIG. 1, the marine vessel monitoring system according to the present invention includes a mother ship 100 as a first operated vessel and a plurality of charity lines 200 as a second operated vessel. Further, A monitored vessel 300 for monitoring and tracking the same vessel is constructed. The configuration for monitoring the ship 300 is such that the charity line 200 receives information on the radar image and the electronic chart superimposed on the basis of the position of the charity line 200 from the bus line 100 on which the high performance radar is mounted And a configuration for transmitting the surrounding environment of the charity line 200 to the bus 100 in real time. This configuration will be described with reference to Fig.

Fig. 2 is a detailed block diagram of the configuration provided on the busbar and the charger in Fig. 1. Fig. FIG. 2 is a diagram illustrating a configuration of the bus bar 100 and the charger 200 according to an embodiment of the present invention.

Mothership configuration

A radar 110 for detecting the presence and position of the charity line 200 and the monitored vessel 300 is installed on the bus line 100 based on the current coordinates of the charity line transmitted from the charity line 200. The radar 110 is a device capable of scanning a wider range than a radar that can be installed in the charity 200 and acquiring a high-precision image.

The radar image processing unit 120 converts various information (e.g., image information, azimuth information, etc.) transmitted from the radar 110 into an image form that can be displayed on the screen. The radar image processing unit 120 receives the transmission trigger, the video signal, and the antenna synchronization signal from the radar 110, performs the image conversion process, and converts the converted image into a screen format of a raster scan.

An information processing unit 130 is configured on the bus bar 110. The information processing unit 130 performs a function of controlling the data communication function and a substantial function of generating image information obtained by overlapping the electronic chart and the radar image required by the present invention. The image information is obtained by correcting the radar image scanned by the radar 110 based on the position of the charity line 200, superimposing the radar image on the electronic chart, and superimposing the radar image and the electronic chart. The information processing unit 130 also plays a role of parsing only information related to the monitoring and tracking of the ship among the raw data received by the AIS receiving unit 170, which will be described later, . This is to facilitate the mobile device 220, which will be described later, to process the AIS information. For reference, the AIS information is information related to the operation of the charity 200, and may be a signal from a navigation communication device or a signal output from various ship devices that are essential for navigation. Such an example may be positional information of the charity line 200, hull motion information, natural environment information of the navigation route, position information of another ship located in the navigation route, or electronic navigational information of the navigation route.

A database 140 is configured on the bus 110. The database 140 stores a series of programs for processing and displaying electronic chart information and radar information, and for generating the above-described image information.

A configuration of the RF communication unit 150, the radar control unit 160, the AIS receiving unit (i.e., ship information receiving unit) 170, and the monitor 180 is constructed on the bus 110. The RF communication unit 150 is for establishing a network for RF communication with a plurality of charities 200. The radar controller 160 controls the function of the radar 110 remotely according to the need of the charity 200, and a control operation is performed using a normal serial communication port. As described above, the AIS receiving unit 170 serves to automatically receive information related to the charity line 200 or the ship to be monitored 300 as an automatic ship identification device. The monitor 180 is for displaying the surroundings of the charity line 200 transmitted from the charity line 200 as an image.

Charity composition

A GPS (DGPS) 210 is provided in the charity line 200 for extracting a position coordinate value of the charity line.

Also, the portable device 220 using the smart tablet type PC is provided in the charity line 200. The portable device 220 is preferably designed to be used while the user aboard the charity line 200 is moving and to satisfy external conditions such as impact, moisture-proof, waterproof, etc. in consideration of the marine environment. And because it must be portable, it is equipped with a detachable battery or an internal battery and an antenna for wireless communication. In addition, the electronic chart must be updateable by the user.

The portable device 220 is configured with a control unit 222 for controlling the entire control operation. The control unit 222 performs a function of transmitting and receiving information with respect to the bus 100 and displaying the image information transmitted from the bus 100 on the display unit 226. [ Also, when the correction of the image information is required, the corrected image information is mapped to the electronic chart and displayed on the display unit 226.

The portable device 220 further includes an RF communication unit 224, a radar remote control unit 228, an image correction unit 230, a database 240, and a camera 250. The RF communication unit 224 is for establishing a communication network for RF communication with the bus 100. The radar remote control unit 228 is provided with a function of controlling a detailed function of the radar 110 installed on the bus 100 and a function of selecting a vessel desired to be monitored according to the need of the charity 200. When the difference between the position of the mother ship 100 and the position of the charity line 200 is larger than the reference value or when the radar image transmitted from the bus 100 is different from the electronic still image, As shown in FIG. When correcting such a video image, the portable device 200 may display the electronic chart on the display unit 226, and may also retrieve and map the electronic chart stored in the database 240. It is preferable that this function is performed by the control unit 222. The database 240 stores a program for displaying the image information transmitted from the bus 100 on the display unit 226 and a program for correcting the image and the like and the portable device 222 displays the electronic chart And stores the electronic chart information. Here, when displaying the electronic chart, "SevenCs kernel" can be used as a kernel for processing electronic charts, and displays electronic charts in the form of the standard (S-57) of the International Hydrographic Organization (IHO). The camera 250 may be a web camera, an IP camera, a network camera, or the like. However, the camera 250 may be any camera capable of photographing the surroundings of the charity 200 with a better image quality. The camera 250 is installed on a separate bracket or the like so as to be rotatable so as to take a picture of the 360 degrees around the charity line 200.

Next, a series of processes for monitoring a ship in a ship surveillance system having the above-described configuration will be described in detail with reference to the accompanying drawings.

3 is a flow chart for monitoring a ship in accordance with an embodiment of the present invention. FIG. 3 shows a process in which the charity line 200 tracks image data of a surveillance target while receiving the image information in which the radar image and the electronic chart are overlapped with the current position of the charity 200.

First, the charity 200 extracts the position coordinate value of the current charity line through the GPS 210. (s400) The coordinate value extraction is always extracted in a situation where the charity line 200 is in operation. The coordinate values thus extracted are transmitted to the bus 100 through the RF communication units 224 and 150 and the information processing unit 130 of the bus 100 transmits the coordinate values to the area around the charity line 200 And controls the radar 110 to scan the radar information. Accordingly, the radar 110 scans the radar image based on the current position of the charity (s406), and the radar image processing unit 120 receives the radar image from the radar 110. [

The radar image processing unit 120 processes the radar image (s410). That is, the radar 110 receives the transmission trigger, the video signal, and the antenna synchronization signal, and transforms the information into an image form that can be displayed on the screen.

The processed radar image is transmitted to the information processing unit 130. Then, the information processing unit 130 superimposes the machined radar image with the electronic chart information corresponding to the current position of the charitable line, and generates image information centered on the current position of the charitable line 200 (s414). An example of generating such image information is shown in Fig. 4 is a diagram showing an embodiment in which a radar image and an electronic chart are superimposed. In FIG. 4, (A) indicates radar information, (B) indicates an electronic chart, and (C) indicates image information superimposed with radar information and electronic charts. Generally, image information is generated by combining two different images a method of overlaying and displaying is used.

The information processing unit 130 transmits the image information to the mobile device 220 of the charity line 200 through the network established by the RF communication units 150 and 224. [ The portable device 220 displays the image information on the display unit 226 in accordance with the control operation of the control unit 222 in step S418 and the crew of the charity vessel 200 confirms the position of the charity vessel 200, (S420).

The charity line 200 can receive the information required by the charity line 200 by using the equipment of the bus line 100 without installing a high-performance radar or an electronic chart system (ECDIS) It is. Of course, since the portable device 220 can display the electronic chart, the controller 220 can receive only the radar image based on the current position of the charger, The display unit 226 may display the image information by superimposing the received radar image. In this case, since the radar image having the current position of the charger is centered on the charger 200, the charger 200 does not need a high-performance radar, It is possible to generate the image information of the image.

On the other hand, as described above, it is not limited to one charger to transmit video information based on the charity line to the charger 200, and the simultaneous transmission to a plurality of charger lines is possible. Based on the bus 100, the transmission range is up to 50 km, and the transmission speed is from 11 Mbps to 300 Mbps.

FIG. 5 is a flowchart illustrating a method of displaying AIS information and a vessel subject to monitoring in image information according to an embodiment of the present invention.

The charity line 200 can select the monitored vessel 300 to be monitored and traced among a plurality of vessels displayed on the portable device 220 (s430). The selection of the vessel to be monitored 300 is performed by the radar remote control unit 228. [ That is, a ship desired to be monitored is selected through an in-vessel input device displayed on the display unit 226 of the portable device 220. At this time, if the portable device 220 supports the touch screen function, the user can directly select a ship to be monitored on the display unit 226. [

When the radar remote control unit 228 selects the monitored ship 300, the information is transmitted to the information processing unit 130 of the bus 100 through the RF communication unit 150 (s432).

The information processing unit 130 acquires information on the selected monitored ship 300 by controlling the radar 110. That is, the information processing unit 130 controls the radar 110 to request the radar information of the area where the monitored ship 300 is located, the tracking information on the route of the monitored ship 300, etc. (s434) (Step S436). At this time, the information processing unit 130 of the bus 100 acquires the AIS information about the monitored ship 300 requested by the charity line 200 through the AIS receiving unit 170 (s438). At this time, the AIS information is raw data transmitted through the NMEA (National Marine Electronics Association) protocol, and the row data includes various information. That is, information that is not related to the ship surveillance and tracking of the present embodiment. In this case, the mobile device 220, which processes the AIS information, may be inconvenient to process the AIS information due to various information. Therefore, the information processing unit 130 parses the AIS information so that the portable device 220 can display only the necessary information of the monitored ship 300 on the display unit 226, and only the valid information related to the ship monitoring and tracking It is preferable to further perform the acquisition process (s439). Accordingly, the information processing unit 130 has the radar image, the ship tracking information, and the processed AIS information, and transmits the information to the charity 100 through the RF communication units 150 and 224 (s440). For reference, the charity line 200 receives only the AIS information through the AIS receiver 170 of the bus 100 and displays it on the mobile device 220. In this way, the charity line 200 can receive the AIS information without installing a separate AIS system.

Subsequently, the mobile device 220 of the charity 100 receives the above-mentioned radar image, ship tracking information, and AIS information, and overlaps the at least one of the information with the image information received and displayed on the bus 100 (S442). Such an example is shown in Fig. 6 is an exemplary diagram showing a state in which tracking information on the monitored ship 300 is displayed according to the present embodiment. Of course, the portable device 220 may display one or more pieces of information on the electronic chart displayed on the display unit 226. [ That is, even if the video information is not received from the bus bar 100, the portable device 220 can display various information in an overlapped manner while displaying the electronic chart.

7 is a flowchart showing a process of remotely operating a radar according to the present invention. The present embodiment can remotely control the detailed functions of the radar 110 installed on the bus 100 in the charity 200. That is, the performance of the radar 110 can be changed due to the diversity of the marine environment. In this case, the image quality of the radar image may be deteriorated due to the degradation of the performance of the radar 110. Therefore, there is a need to adjust the radar function so as to adapt to the marine environment and to always perform good radar performance, and this embodiment can adjust it according to the environment of the charity in the charity 200.

In order to do this, the mobile device 220 of the charity 200 inputs control information to be controlled among functions of the radar and transmits the control information to the bus 100 through the RF communication units 224 and 150 (s450).

The bus 100 transmits the control information received by the information processing unit 130 to the radar control unit 160 (s452). The radar controller 160 controls the functions that the radar 110 can provide using a series of radar control protocols that can reflect control information (s454).

The resultant value is obtained by monitoring the state of the radar 110 by the radar control unit 160 at step s456 and the bus line 100 transmits it to the charity line 200 at step s458, Confirm that the control operation is done in accordance with this. If the control operation is not normally performed, an error message corresponding to the error message will be displayed on the portable device 220, so that the user again operates the portable device 220 of the charity 200 to repeatedly request the above- . Of course, when the function of the radar 110 is not changed according to a number of control requests, it is preferable to notify the bus 100 of this fact and request to adjust the function of the radar 110 directly from the bus 100 Do.

The present embodiment is different from the first embodiment in that the positions of the bus 100 and the charger 200 are changed while the bus 100 transmits video information to the charger 200, A correction process for correcting the radar image and mapping the radar image to the electronic chart may be additionally performed. This is illustrated in FIG. 8, which illustrates an image correction technique for mapping a reference image of an electronic chart on a radar image, and FIG. 8, which illustrates an image correction technique for mapping image information by using an eigenvalue and a coordinate value of a char- .

Fig. 8 is a case in which correction of the radar image is required due to the above-mentioned reason. For example, when the reference image of the electronic chart is provided as shown in (a) and the radar image transmitted from the bus 100 is the same as (b), there is a considerable difference between the two images. It is difficult to obtain accurate image information when two images are superimposed in this state.

Accordingly, when the radar image as shown in (b) is transmitted, the image correction unit 230 of the charity 200 rotates the transmitted radar image clockwise or counterclockwise at predetermined angles to determine whether it is the same as the reference image of the electronic chart . In FIG. 8, images of (c), (d) and (e) are obtained in order while rotating the radar image of (b) by a predetermined angle. Finally, a radar image of Calibrate.

Thereafter, the corrected radar image is mapped to the electronic chart to generate accurate image information based on the position of the char- acter, and displayed on the display unit 226.

9 uses the eigenvalues of the charger 200 and the coordinate values for the current position. That is, the image image correcting unit 230 corrects the received radar image based on the eigenvalue and the coordinate value of the charity 200, and obtains the corrected radar image. The obtained corrected radar image is mapped to the electronic chart to generate accurate image information based on the position of the char- acter, and displays it on the display unit 226.

As described above, according to the present embodiment, even when the position of the mother line 100 and the position of the charger line 200 is changed over a predetermined reference value, the radar image is corrected and mapped to the electronic chart, And provides a function to monitor and track the target ship 300.

In the meantime, the present invention can monitor the environment around the charger 200 in real time. This is possible because the communication network is established by the above-described RF communication unit 150 and 224 and the charger 200 is equipped with the camera 250 capable of photographing the periphery of the charity line 200.

Therefore, when the camera 250 mounted on the charity line 200 photographs the surrounding environment of the charity line 200, the captured information is transmitted in real time to the bus line 100 through the RF communication units 150 and 224. [ The transmitted peripheral environment information is displayed through the monitor 180 of the bus 100. Thus, the bus 100 can be remotely monitored with respect to the current state of the charity 200.

The camera 250 mounted on the charity line 200 need not be directly controlled by the charity line 200. [ That is, since the information photographed by the camera 250 is monitored by the bus 100, it is preferable that the information is directly controlled by the bus 100. [ Therefore, the bus line 100 is provided with a function of controlling the PTZ information of the camera 250 as an area to be monitored.

As described above, according to the present embodiment, even if the charity can not install space-constrained equipment or expensive equipment, since the information required by the charity is supplied from the bus using the resources of the bus, It is possible to perform tracking on the monitored vessel effectively. In addition, multiple charities can utilize the resources of the mothership. In addition, the mother ship can monitor the charity from the charity in real-time by receiving the image of the surrounding environment.

It is to be understood that the scope of the present invention is defined by the appended claims rather than by the foregoing description and that various changes and modifications within the scope of the appended claims will become apparent to those skilled in the art. It is self-evident.

100: Mothership (1st vessel) 200: Charity (2nd vessel)
300: Surveillance vessel
110: Radar 120: Radar image processing unit
130: Information processing unit 140, 240: DB
150, and 224: RF communication unit 160: radar control unit
170: AIS receiver 180: Monitor
210: GPS (220): portable device
222: control unit 230: image image correction unit
250: camera

Claims (12)

A navigation information receiving unit for collecting information on maritime navigation targets; a first navigation ship having an information processing unit and an electronic chart system for acquiring only valid information related to the monitoring of a ship in the collected marine information; And
And transmits the data to and receives data from the first navigation vessel. The navigation apparatus receives image information in which the radar image and the electronic map information are superimposed on each other according to the current position information of the charity being sailed from the first navigation vessel, And a portable device for displaying the valid information on the image information while monitoring the ship. A radar detecting a maritime navigation target; a ship information receiving unit for collecting ship information; and an information processing unit for obtaining only valid information related to the surveillance of the ship in the collected ship information; And
And transmits and receives data to and from the first navigation ship, generates a radar image corrected based on the current position information of the charity, superimposes the received digital snow information on the first navigation ship and generates image information, And a portable device for displaying the valid information on the video information while monitoring the monitored ship. delete 3. The method according to claim 1 or 2,
The first operating ship further includes a radar image processing unit for converting the scanned information of the radar into an image form capable of being displayed on a screen,
Wherein the image form is converted into a screen form of a raster scan on a plane. 3. The method according to claim 1 or 2,
Wherein the second operating vessel further comprises a GPS to obtain current position information of the charity as a coordinate value,
Wherein the first operating vessel generates a radar image corrected to a current position of the second operating vessel on the basis of the coordinate value of the gas sensor. 6. The method of claim 5,
Wherein the second operating vessel further comprises a radar remote control unit for controlling the function of the radar or generating a control command to select a monitored vessel to be monitored by the second operating vessel,
Wherein the first operating vessel adjusts the detailed function of the radar or acquires information on the monitored vessel according to the control command and transmits the information to the second operated vessel. 6. The method of claim 5,
The second operating vessel further comprises a camera for photographing the environment of the charity,
Wherein the first navigation ship receives information photographed from the camera in real time and monitors the current status of the second navigation ship. 6. The method of claim 5,
When the radar image transmitted from the first navigation ship and the electronic chart information about the position of the current charity line are different from each other, the second navigation ship calibrates the radar image transmitted from the first navigation vessel on the basis of the position of the charity Further comprising a video image correction unit,
Wherein the image correction unit corrects the radar image transmitted from the first navigation ship in accordance with the reference image of the electronic chart to be superimposed or corrects the radar image based on the eigenvalue, And corrects the radar image transmitted from the ship. Transmitting a GPS coordinate value of the charity to the first operating vessel;
Acquiring a radar image of an area where the second navigation ship is located using the GPS coordinate value of the first navigation ship;
Generating image information by superimposing the electronic chart of the radar image and the current position of the second operated ship on the first operated ship; And
Wherein the first operating vessel provides the image information to the mobile device of the second operating vessel to monitor the monitored vessel by the second operating vessel. 10. The method of claim 9,
Photographing the surrounding environment of the second operated ship;
Transmitting the photographed information to the first operating vessel; And
Further comprising monitoring the surrounding environment of the second operating vessel by the first operating vessel. 10. The method of claim 9,
Wherein the second navigation ship is capable of displaying the image information by superimposing the radar image on an electronic chart displayed and provided to the portable device by receiving the radar image from the first navigation vessel. Way. 10. The method of claim 9,
Wherein the second operating vessel is capable of displaying vessel information about the vessel to be monitored from the first vessel and superimposing the information on the electronic chart or image information displayed on the portable apparatus.

Images