KR101764600B1 - Uav-guided ship cruise method and system - Google Patents

Uav-guided ship cruise method and system Download PDF

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Publication number
KR101764600B1
KR101764600B1 KR1020150094130A KR20150094130A KR101764600B1 KR 101764600 B1 KR101764600 B1 KR 101764600B1 KR 1020150094130 A KR1020150094130 A KR 1020150094130A KR 20150094130 A KR20150094130 A KR 20150094130A KR 101764600 B1 KR101764600 B1 KR 101764600B1
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South Korea
Prior art keywords
ship
obstacle
route
information
turning angle
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KR1020150094130A
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Korean (ko)
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KR20170004164A (en
Inventor
이동익
양인석
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경북대학교 산학협력단
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B49/00—Arrangements of nautical instruments or navigational aids
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
    • B63H25/02—Initiating means for steering, for slowing down, otherwise than by use of propulsive elements, or for dynamic anchoring
    • B63H25/04—Initiating means for steering, for slowing down, otherwise than by use of propulsive elements, or for dynamic anchoring automatic, e.g. reacting to compass
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G3/00—Traffic control systems for marine craft
    • G08G3/02—Anti-collision systems
    • B64C2201/12—

Abstract

A method and system for ship navigation based on unmanned aerial vehicles.
The navigation system according to any one of claims 1 to 3, further comprising: a navigation unit for navigating along the target route by setting one of the at least one navigation route as a navigation route from the departure location to the destination, A steering direction and a first turning angle are calculated so as to avoid a collision with the obstacle and a modified route is created by correcting the target route by reflecting the changed route in accordance with the steering direction and the first turning angle Obtains an actual turning angle capable of sailing along the modified route by correcting the first turning angle in accordance with the bird information or the wind information, A method of navigating a vessel based on an unmanned aerial vehicle that steers along an angle and navigates along the modified route to provide.

Description

[0001] UAV-GUIDED SHIP CRUISE METHOD AND SYSTEM [0002]

The present invention relates to a method and system for navigating a vessel based on an unmanned airplane, and more particularly, to a method and system for navigating a vessel based on information received from an unmanned airplane.

In the case of ships, in case of domestic vessels, it is recommended to install a ship position transmitter on ships of more than 5ton and passenger ships that are to be sailed for international voyage in order to ensure safe operation of vessels by real- The National Security Council (NSC), the National Intelligence Service, the Ministry of Government Administration and Home Affairs, and the Marine Police Agency are in the process of establishing a national crisis management system for joint use of marine disaster information.

In addition, there are various methods for preventing the collision with the obstacle by recognizing the obstacle information on the route by mounting various sensors such as radar in the ship itself.

However, in the case of real-time monitoring of the ship sailing situation, there is a difficulty in ensuring safety of navigation on the high seas beyond the control of marine traffic control, and there is a problem that the manager must continuously monitor.

In addition, a considerable amount of time and space is required for turning for obstacle avoidance. However, since the effective detection distance of a sensor mounted on a ship is very short, there is a limit in avoiding a navigation obstacle only by a sensor mounted in the ship.

Therefore, in addition to the existing ship safety system, new equipments for detecting obstacles on the ship 's navigation path and new methods for avoiding obstacles are needed.

Korean Patent Publication No. 10-2007-0117244

One aspect of the present invention is a method for navigating a vessel based on an unmanned airplane, which comprises receiving an obstacle information on a navigation route from an unmanned airplane, modifying a navigation route according to the received obstacle information, .

Another aspect of the present invention is a method of navigating a vessel based on an unmanned airplane, the method comprising: receiving a navigation route corresponding to obstacle information on a navigation route from an unmanned airplane, and navigating along a received route; do.

An aspect of the present invention is a method for navigating a vessel based on an unmanned aerial vehicle, the method comprising the steps of: setting one of at least one navigation route as a navigation route from a source location to a destination as a target navigation route and navigating along the target navigation route; The steering direction and the first turning angle are calculated so as to avoid the collision with the obstacle on the target route, and the steering direction and the first turning angle The first route is changed according to the bird information or the wind information, and the route is changed along the modified route Obtains an actual turning angle at which the vehicle can be sailed, Steer and navigate along the modified route.

On the other hand, calculating the steering direction and the first turning angle so as to avoid a collision with the obstacle on the target route can be performed by calculating the steering angle of the obstacle on the basis of the obstacle information received from the unmanned air vehicle A first straight line connecting an obstacle to the ship and a second straight line connecting the obstacle and the destination are calculated so as to avoid a collision with an obstacle on the target route in the presence of an obstacle, ≪ / RTI >

The calculating of the steering direction and the first turning angle so as to avoid the collision with the obstacle on the target route may further include calculating the steering angle and the first turning angle on the basis of the obstacle information received from the unmanned airplane, Avoiding collision with an obstacle on the target route at the current position of the ship in accordance with the navigation speed of the ship and the distance between the obstacle on the target route so as to avoid collision with the obstacle on the target route, And adding the safety angle stored in advance to the minimum turning angle that can be calculated to calculate the primary turning angle.

The calculating of the steering direction and the primary turning angle so as to avoid collision with the obstacle on the target route can be performed by calculating the distance between the obstacle and the obstacle among the plurality of obstacles It is possible to calculate the steering direction and the first turning angle so as to avoid collision with the obstacle on the basis of the shortest obstacle.

The obtaining of the algae information and the wind information may be performed by obtaining the direction and intensity information of the algae and the wind based on the traveling direction of the ship.

The calculation of the actual turning angle in which the first turning angle is adjusted in consideration of the bird information or the wind information is performed by calculating the actual turning angle based on the direction of the tide or the wind and the steering direction and the first turning angle, And calculate the actual turning angle by adjusting the first turning angle using a lookup table that defines an adjusting angle according to the direction and intensity information of the tide and the wind.

When it is determined that collision avoidance with the obstacle on the target route is impossible based on the distance information with respect to the obstacle previously stored and the type and size information of the obstacle that can not avoid the collision according to the sailing speed of the ship, And transmitting the emergency rescue signal to the center or another adjacent ship.

According to another aspect of the present invention, there is provided a method for navigating a vessel based on an unmanned airplane, the method comprising the steps of setting one of at least one navigation route as a navigation route from a source location to a destination as a target navigation route, A steering angle and a first turning angle calculated so as to avoid a collision with an obstacle on the target route from an unmanned aerial vehicle operating along the route, An actual turning capable of operating the modified route by correcting the first turning angle in accordance with the algae information or the wind information, receiving the modified route created by modifying the target route, acquiring algae information and wind information, And corrects the corrected path in accordance with the actual turning angle in the steering direction The sailing.

On the other hand, receiving the steering direction and the primary turning angle calculated so as to avoid a collision with an obstacle on the target route from an unmanned aerial vehicle operating on the target route, When the obstacle has a possibility of collision with the obstacle, the first straight line connecting the ship and the obstacle so as to avoid the obstacle, and the second straight line connecting the obstacle and the destination, Lt; / RTI >

In addition, if there is an obstacle that may collide on the target route from an unmanned airplane operating along the target route, the obstacle can be avoided by changing the distance between the ship's navigation speed and the obstacle so as to avoid the obstacle. And receiving the primary turning angle calculated by adding a safety angle stored in advance to a minimum turning angle at which the collision with the obstacle can be avoided at the current position.

The receiving of the steering direction and the primary turning angle calculated so as to avoid collision with the obstacle on the target route from the unmanned airplane operating along the target route can be performed by using the above- The controller may receive the steering direction and the first turning angle calculated so as to avoid a collision with the obstacle on the basis of the obstacle having the shortest distance from the obstacle among the plurality of obstacles from the unmanned airplane.

The obtaining of the algae information and the wind information may be performed by obtaining the direction and intensity information of the algae and the wind based on the traveling direction of the ship.

The calculation of the actual turning angle in which the first turning angle is adjusted in consideration of the bird information or the wind information is performed by calculating the actual turning angle based on the direction of the tide or the wind and the steering direction and the first turning angle, And calculate the actual turning angle by adjusting the first turning angle using a lookup table that defines an adjusting angle according to the direction and intensity information of the tide and the wind.

In addition, when it is determined that collision avoidance with the obstacle on the target route is impossible based on distance information on the obstacle previously stored from the unmanned airplane, and type and size information of the obstacle impossible to avoid collision according to the sailing speed of the ship , And an emergency rescue signal is transmitted to the maritime traffic control center or another adjacent ship.

According to another aspect of the present invention, there is provided a ship navigation system based on an unmanned aerial vehicle, comprising: a ship navigating along a target route by setting one route of at least one navigable route as a navigation route from a source location to a destination; An unmanned aerial vehicle sensor unit for navigating along a target course of the ship and acquiring obstacle information on the target course, calculating a steering direction and a first turning angle of the ship in accordance with the obstacle information on the target course, An unmanned airplane control unit for generating a modified route by modifying the target route by reflecting a route changed by an angle, and an unmanned airplane control unit for transmitting the obstacle information on the target route, the steering direction, the first turning angle, And an unmanned aircraft including an aircraft communication unit.

Meanwhile, the ship includes a ship sensor unit for acquiring direction and intensity information of algae and wind on the basis of the traveling direction of the ship.

The ship receives obstacle information on the target route from the unmanned airplane and calculates the steering direction and the first turning angle so as to avoid collision with the obstacle on the target route, The corrected route is corrected by reflecting the changed route according to the angle, and the corrected route is obtained by obtaining the bird information and the wind information, and correcting the first turning angle in accordance with the bird information or the wind information, A first mode for obtaining an actual turning angle that can be sailed along the steering angle and for navigating along the modified route in accordance with the actual turning angle in the steering direction and a second mode for steering from the unmanned airplane in the steering direction, And receiving the modified route, acquiring algae information and wind information, A second mode in which the first turning angle is corrected according to the beam to obtain an actual turning angle capable of navigating along the modified route, and a navigation is performed in accordance with the actual turning angle in the steering direction along the modified route You can navigate in one mode.

In addition, the ship compares a direction in which the ship must move along the direction of the algae or the wind and the first turning angle, and compares the direction of the ship with a lookup table And a ship control unit for calculating the actual turning angle by adjusting the primary turning angle by using the first turning angle.

In addition, the vessel may navigate from the first mode to the second mode while navigating, or may change from the second mode to the first mode and navigate.

Further, the ship may further include storing the modified route as at least one travel route that is a navigation route from the origin to the destination.

According to an aspect of the present invention, there is provided an unmanned airplane-based vessel navigation method for receiving an obstacle information on a navigation route from an unmanned airplane and modifying a navigation route according to the received obstacle information, It is possible to detect navigation obstacles in a wider range of time and space and sufficient time and space for collision avoidance with obstacles can be provided

In addition, safety of navigation can be ensured by avoiding collision with obstacles even on the high seas beyond the control of maritime traffic control.

1 is a view illustrating a ship navigation system according to an embodiment of the present invention.
2 is a control block diagram of an unmanned aerial vehicle according to an embodiment of the present invention.
3 is a control block diagram of a ship according to an embodiment of the present invention.
4 is a view for explaining a method of calculating a steering direction in a ship navigation system according to an embodiment of the present invention.
5 is a view for explaining a method of generating an actual turning angle in a ship navigation system according to an embodiment of the present invention.
6 is a view for explaining a method of generating an actual turning angle in a ship navigation system according to an embodiment of the present invention.
7 is a flowchart illustrating a method of controlling an unmanned aerial vehicle in a first mode of a ship navigation system according to an embodiment of the present invention.
8 is a flowchart illustrating a method of controlling a ship in a first mode of a ship navigation system according to an embodiment of the present invention.
9 is a flowchart illustrating a method for controlling an unmanned aerial vehicle in a second mode of a ship navigation system according to an embodiment of the present invention.
10 is a flowchart showing a method of controlling a ship in a second mode of a ship navigation system according to an embodiment of the present invention.

The following detailed description of the invention refers to the accompanying drawings, which illustrate, by way of illustration, specific embodiments in which the invention may be practiced. These embodiments are described in sufficient detail to enable those skilled in the art to practice the invention. It should be understood that the various embodiments of the present invention are different, but need not be mutually exclusive. For example, certain features, structures, and characteristics described herein may be implemented in other embodiments without departing from the spirit and scope of the invention in connection with an embodiment. It is also to be understood that the position or arrangement of the individual components within each disclosed embodiment may be varied without departing from the spirit and scope of the invention. The following detailed description is, therefore, not to be taken in a limiting sense, and the scope of the present invention is to be limited only by the appended claims, along with the full scope of equivalents to which such claims are entitled, if properly explained. In the drawings, like reference numerals refer to the same or similar functions throughout the several views.

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

2 is a control block diagram of an unmanned aerial vehicle according to an embodiment of the present invention. FIG. 3 is a block diagram of a navigation system according to an embodiment of the present invention. Fig. 8 is a control block diagram of a ship according to an embodiment; Fig.

Referring to FIG. 1, an unmanned airplane-based ship navigation system 1000 may include an unmanned airplane 100 and a ship 200 according to an embodiment of the present invention.

The ship navigation system 1000 according to an embodiment of the present invention is a system capable of navigating safely to a destination by navigating the navigation route according to obstacle information on the navigation route of the ship 200 acquired by the UAV 100 to be.

Specifically, the ship navigation system 1000 according to an embodiment of the present invention acquires obstacle information on the navigation route from the unmanned airplane 100 operating along the same route as the navigation route of the ship 200, ), The ship 200 can operate in the first mode in which the current route is modified according to the obstacle information on the navigation route or in the unmanned airplane 100 traveling along the same route as the navigation route of the ship 200, The ship 200 can navigate in accordance with one of the second mode for navigating along the received route when the obstacle information is acquired and the navigation route is modified according to the obtained obstacle information to be transmitted to the ship 200 have.

Here, the unmanned airplane 100 is an aircraft capable of operating according to an external control without occupant, or autonomously operating according to its own flight operating system, and a variety of robot modules, model airplane devices, Lt; / RTI >

In addition, the vessel 200 means various vessels such as a ship, a passenger ship, a fishing vessel, a detection vessel, etc., which can be used as a navigation means in water, and may be an unmanned vessel capable of autonomous operation without a passenger, It may be a manned vessel.

Referring to FIG. 2, the UAV 100 includes a UAV communication unit 110, a UAV sensor unit 120, a UAV external input unit 130, a UAV controller 140, an unmanned aircraft memory unit 150, And may include the unmanned aerial vehicle driving unit 160.

The unmanned aerial vehicle communication unit 110 may include one or more components for communicating with the ship 200 to transmit and receive information. For example, the unmanned aerial vehicle communication unit 110 may include components such as a mobile communication module, a wireless Internet module, a short distance communication module, and a long distance communication module. That is, the unmanned aerial vehicle communication unit 110 can communicate with the ship 200 to transmit or receive obstacle information or navigation route information on the navigation route.

In addition, the unmanned aerial vehicle communication unit 110 can communicate with the Vessel Traffic Service Center (VTS) to transmit and receive obstacle information and weather information on a navigation route. At this time, the VTS can use radar, VHF, and AIS to identify the current status of the ship, and to provide information such as algae, tide, and weather conditions.

The unmanned aerial vehicle sensor unit 120 includes a plurality of sensors installed inside or outside the UAV 100, for example, a GPS, a camera, a radar, a Lidar, The moving speed of the ship 200 and the obstacle information on the navigation route of the ship 200 can be obtained. At this time, the unmanned aerial vehicle sensor unit 120 can acquire obstacle information of a three-dimensional image using a camera or the like as well as two-dimensional obstacle information using a radar or the like. In addition, the UAV 100 can approach the obstacle on the navigation route through the UAV sensor unit 120 and acquire the information of the obstacle. Accordingly, the ship navigation system 1000 according to an embodiment of the present invention can acquire a wide range of obstacle information by acquiring obstacle information on the navigation route of the ship 200 from the UAV 100, It is possible to accurately identify and cope with the problem.

Here, the obstacle information on the navigation path of the ship 200 means an obstacle to the navigation of the ship, for example, a thing which is distant from the ship, a ship which has been sunk or stranded or a thing which is lost therefrom, Reefs, candles, cancers, reptiles, and the like.

The unmanned aerial vehicle external input unit 130 can receive navigation route information of the UAV 100 and the like. The unmanned airplane 100 must navigate along the same route as the navigation route of the ship 200 and obtain obstacle information on the navigation route so that the same route as the navigation route of the ship 200 through the unmanned airplane external input unit 130 Input can be received. Alternatively, the unmanned airplane 100 may receive the navigation route of the ship 200 from the ship 200 via the unmanned aerial communication unit 110, and may navigate along the route.

The unmanned airplane control unit 140 may control the overall operation of the UAV 100 and may include an unmanned aircraft obstacle information generation unit 141 and an unmanned airplane route information generation unit 142.

The unmanned aircraft obstacle information generation unit 141 identifies the types of obstacles on the navigation route by combining the obstacle information acquired through the unmanned aerial sensor unit 120 and the obstacle information received from the maritime traffic control center (VTS) The distance from the current position of the obstacle 200 to the obstacle can be calculated. That is, the unmanned aircraft obstacle information generation unit 141 combines the two-dimensional or three-dimensional obstacle information acquired through the unmanned aerial sensor unit 120 with the two-dimensional obstacle information received from the marine traffic control center (VTS) It is possible to identify the type of the obstacle on the navigation route and calculate the distance from the current position of the ship 200 to the obstacle.

On the other hand, even if the unmanned airplane 100 and the ship 200 can not communicate with the maritime traffic control center (VTS) and can not receive the obstacle information on the navigation route from the maritime traffic control center (VTS) The information generating unit 141 may generate the obstacle information including the type of the obstacle on the navigation route and the distance information between the ship 200 and the obstacle based on the information acquired by the unmanned aerial vehicle sensor unit 120 itself.

Here, when the ship navigation system 1000 of the present invention navigates according to the first mode, the obstacle information generated by the unmanned airplane obstacle information generation unit 141 is transmitted to the ship 200 through the unmanned airplane communication unit 110 Can be transmitted.

The unmanned airplane route information generating unit 142 may generate a new route by correcting the route currently traveled by the ship 200 according to the obstacle information on the route of the ship 200 generated by the unmanned airplane obstacle information generating unit 141 have.

Specifically, when the ship 200 sets one of the at least one navigation route as the navigation route from the origin to the destination as the target navigation route and sails along the target navigation route, the unmanned airplane 100 also follows the target navigation route And the unmanned aerial vehicle path information generator 142 may generate a modified route in which the target route is modified according to the obstacle information on the target route.

That is, if the unmanned airplane route information generating unit 142 determines that there is an obstacle that may collide with the ship 200 on the target route from the obstacle information generated by the unmanned aerial vehicle obstacle information generating unit 141, The current steering speed of the ship 200 and the distance between the ship 200 and the obstacle so that the obstacle can be avoided so that the obstacle can be avoided. The turning angle can be calculated.

The method for calculating the steering direction of the ship 200 so that the unmanned airplane route information generating unit 142 can avoid an obstacle can include a method of calculating the steering direction of the ship 200 using the first straight line And the second straight line connecting the obstacle and the destination may be compared to generate the steering direction of the ship 200 according to the position of the second straight line with respect to the first straight line. That is, when the second straight line connecting the obstacle and the destination is located on the left side with respect to the first straight line connecting the obstacle to the ship 200, the unmanned airplane route information generation unit 142 generates the steering direction of the ship 200 And when the second straight line is on the right side with respect to the first straight line, the steering direction of the ship 200 can be calculated as starboard. In this regard, it can be explained with reference to Fig.

4 is a view for explaining a method of calculating a steering direction in a ship navigation system according to an embodiment of the present invention.

Referring to FIG. 4, the ship 200 sails along a target route, and the UAV 100 also travels along a target route, and an obstacle (a batterel) is present on the target route.

In order to calculate the steering direction of the ship 200 so that the ship 200 can avoid the obstacle, the UAV 100 can calculate the steering direction of the ship 200 by using the first straight line connecting the ship 200 and the obstacle, Two straight lines can be compared. The unmanned airplane 100 can generate the steering direction of the ship 200 according to the position of the second straight line with respect to the first straight line.

That is, in FIG. 4, since the second straight line is on the right side with respect to the first straight line, the unmanned airplane 100 can calculate the steering direction of the ship 200 as starboard.

As a method for calculating the first turning angle that is the steering angle of the ship 200 so that the unmanned airplane route information generating unit 142 can avoid the obstacle by the ship 200, The minimum turning angle capable of avoiding collision with the obstacle at the present position of the ship 200 is calculated by reflecting the sailing speed of the obtained ship 200 and the distance between the ship 200 and the obstacle, The first turning angle can be calculated by adding the safety angle stored in advance.

At this time, as a method of calculating the minimum turning angle at the unmanned airplane route information generating unit 142, the airplane or the ship 100 including the vessel 100 and the obstacle is firstly detected through the unmanned airplane sensor unit 120, Acquires the two-dimensional coordinates indicating the obstacle, calculates the minimum turning angle by reflecting the sailing speed of the ship 200 and the distance between the ship 200 and the obstacle on an aerial photograph or two-dimensional coordinates, And an angle between the center line connecting the center of the obstacle and the center of the obstacle and the straight line from the center of the ship 100 toward the outline of the obstacle can be calculated as the minimum turning angle.

The safety angle means that the ship 200 is not sufficiently steered by the minimum turning angle at which the ship 200 can avoid collision with the obstacle, And can be stored in advance in the memory unit 150 of the unmanned aerial vehicle according to the type of the ship 200 and stored in advance.

On the other hand, when there are a plurality of obstacles having a possibility of collision with the ship 200 on the target route, the unmanned airplane route information generating unit 142 generates the unmanned airplane route information by using the obstacle with the shortest distance between the ship 200 and the obstacle It is possible to calculate the first-order turning angle of the main body 200.

In addition, the unmanned aerial vehicle path information generating unit 142 may generate a modified route by modifying the target route by reflecting the changed route in accordance with the steering direction and the first turning angle of the ship 200.

When the ship navigation system 1000 of the present invention navigates in the second mode, the steering direction, the first turning angle, and the corrected route of the ship 200 calculated by the unmanned aerial vehicle path information generation unit 142 are set to be unmanned To the ship (200) through the aircraft communication unit (110).

In addition, the unmanned aerial vehicle path information generating unit 142 may determine that collision avoidance with an obstacle likely to collide with the ship 200 on the target route is impossible, When the weather condition deteriorates to such an extent that the ship 200 can not navigate, it can generate an emergency rescue signal and transmit it to the maritime traffic control center (VTS) or another adjacent ship through the unmanned aeronautical communication unit 110. At this time, the unmanned aerial vehicle path information generating unit 142 generates distance information from the current position of the ship 200 stored in the unmanned airplane memory unit 150 to the obstacle, and the obstacle avoiding obstacle according to the moving speed of the ship 200 The unmanned airplane route information generation unit 142 determines whether or not the collision avoidance with the obstacle on the target route is impossible based on the type and size information of the unmanned airplane memory 150, It is possible to determine whether or not the navigation can not be carried out according to the weather information on the navigation route of the ship 200 based on the weather information that is impossible.

The unmanned aerial vehicle memory unit 150 may store a program for processing and controlling the unmanned aerial vehicle control unit 140, and may perform a function for temporarily storing input and output data.

As described above, the unmanned airplane memory unit 150 includes the safety angle according to the type of the ship 200, the distance information from the current position of the ship 200 to the obstacle, and the collision avoidance according to the moving speed of the ship 200 Type and size information of the obstacles and weather information that the ship 200 can not navigate can be stored.

The unmanned airplane driving unit 160 drives the unmanned airplane 100 according to flight path information input through the unmanned airplane external input unit 130 or navigation path information received from the ship 200 through the unmanned airplane communication unit 110 The UAV 100 can be controlled.

3, the ship 200 includes a ship communication unit 210, a ship sensor unit 220, a ship external input unit 230, a ship control unit 240, a ship memory unit 250, and a ship drive unit 260 ).

The ship communication unit 210 may include one or more components for communicating with the UAV 100 to transmit and receive information. For example, the ship communication unit 210 may include components such as a mobile communication module, a wireless Internet module, a short distance communication module, and a long distance communication module. That is, the ship communication unit 210 can communicate with the UAV 100 to transmit or receive obstacle information or navigation route information on the navigation route.

 In addition, the ship communication unit 210 can communicate with the maritime traffic control center (VTS) to transmit and receive obstacle information and environmental external force information on the navigation route. At this time, the VTS can use the radar, VHF, and AIS to identify the current status of the ship, and to provide navigation safety information such as algae, tide, and weather conditions.

The ship sensor unit 220 can obtain the current position of the ship 200 and the obstacle information and the environmental external force information on the navigation route of the ship 200. [ The ship sensor unit 220 may include a plurality of sensors installed inside or outside the UAV 100, for example, a GPS, a camera, a radar, and a Lidar. At this time, the ship sensor unit 220 uses the radar or the like to detect the obstacle information on the navigation path of the ship 200 of the three-dimensional image by using a camera or the like as well as obstacle information on the navigational path of the two- Can be obtained. Accordingly, it is possible to easily identify the type and size of obstacles on the navigation route of the ship 200.

Here, the obstacle information on the navigation path of the ship 200 means an obstacle to the navigation of the ship, for example, a thing which is distant from the ship, a ship which has been sunk or stranded or a thing which is lost therefrom, Reefs, candles, cancers, reptiles, and the like.

In addition, the vessel sensor unit 220 can acquire algae information including the direction and intensity of algae on the route by using all known methods, and representatively, algae information including algae known in Korean Patent Publication No. 10-2015-0056949 The bird information on the route can be acquired including the speed measuring device.

In addition, the ship sensor unit 220 can acquire wind information including directions and intensities of the wind on the route using all known methods, and typically includes wind direction and direction known in Korean Patent No. 10-1168568 Wind speed information on the route including the wind speed measuring device can be obtained.

The ship sensor unit 220 can calculate the direction and intensity of the integrated external force by using a pre-stored program, such as direction and intensity of the algae, wind direction and intensity information, Can be determined.

The ship external input unit 230 can receive the navigation route information of the ship 200 and the like. The ship 200 selects one of the at least one sailing route from the starting point to the destination and navigates as a target course so that the ship 200 can be moved from the starting point to the destination One of the at least one sailing route can be input as the target route. At this time, at least one navigation route information from the origin to the destination can be stored in the ship memory unit 250.

The ship control unit 240 may control the overall operation of the ship 200 and may include a ship obstacle information generation unit 241, a ship environment external force information generation unit 242, and a ship path information generation unit 243.

The ship obstacle information generating unit 241 combines the obstacle information acquired through the ship sensor unit 220 and the obstacle information received from the unmanned airplane 100 or the marine traffic control center (VTS) And can calculate the distance from the current position of the ship 200 to the obstacle.

Even if the unmanned airplane 100 and the vessel 200 can not communicate with the VTS and can not receive the obstacle information on the voyage route from the VTS, The generation unit 241 receives the obstacle information on the navigation route from the information acquired by the unmanned aerial vehicle sensor unit 120 and combines the obstacle information on the navigation route itself acquired by the ship sensor unit 220, And distance information between the ship 200 and the obstacle, and the like.

Alternatively, the vessel obstacle information generation unit 241 may obtain the obstacle information from the current position of the vessel 200 using the obstacle information received from the UAV 100, even if the vessel sensor unit 220 can not acquire the obstacle information by itself, Can be calculated.

The ship environmental external force information generation unit 242 can generate environmental external force information from the bird information and wind information acquired through the ship sensor unit 220.

Specifically, the ship environmental external force information generating unit 242 can generate the direction of the algae, the direction of the wind, the intensity of the algae, and the wind intensity information based on the traveling direction of the ship 200. Therefore, the ship environmental external force information generating section 242 generates, for example, the bird's environment external-force information generating section 242, as the bird information of the " port, 135 degrees, 18.0 knot bird " And the wind intensity information can be calculated.

When the ship navigation system 1000 of the present invention navigates according to the first mode, the ship route information generating unit 243 generates the ship route information according to the obstacle information on the route of the ship 200 generated by the ship obstacle information generating unit 241, It is possible to create a new route by modifying the route that the mobile terminal 200 currently navigates.

Specifically, the ship 200 sets one of the at least one navigation route as a navigation route from the origin to the destination as the target navigation route, and navigates along the target navigation route. The modified route can be created by modifying the target route according to the obstacle information on the route.

That is, when it is determined from the obstacle information generated by the ship route information generating unit 243 that there is an obstacle likely to collide with the ship 200 on the target route, the ship route information generating unit 243 generates a route information The present steering speed of the ship 200 and the distance between the ship 200 and the obstacle so as to avoid the obstacle can be determined so that the steering direction of the port or starboard and the steering angle of the ship 200, Can be calculated.

Herein, as a method of calculating the steering direction of the ship 200 so that the ship 200 can avoid the obstacle in the ship path information generating section 243, there is a method of calculating the steering direction of the ship 200 by using the first straight line connecting the ship 200 and the obstacle , It is possible to compare the second straight line connecting the obstacle and the destination and generate the steering direction of the ship 200 according to the position of the second straight line with respect to the first straight line. That is, when the second straight line connecting the obstacle and the destination is located on the left side with respect to the first straight line connecting the obstacle to the ship 200, the ship route information generating unit 243 may calculate the steering direction of the ship 200, And when the second straight line is on the right side with respect to the first straight line, the steering direction of the ship 200 can be calculated as starboard. The method for calculating the steering direction of the ship 200 so that the ship 200 can avoid an obstacle in the ship path information generating unit 243 is a method of calculating the steering direction in the above- , So that a specific description will be replaced with the one described above.

The method of calculating the first turning angle which is the steering angle of the ship 200 so that the ship 200 can avoid obstacles in the ship path information generating section 243 includes a method The minimum turning angle capable of avoiding collision with the obstacle at the current position of the ship 200 is calculated by reflecting the sailing speed of the ship 200 and the distance between the ship 200 and the obstacle, The first turning angle can be calculated by adding the safety angle.

At this time, as a method of calculating the minimum turning angle in the ship route information generating unit 243, the following can be considered as a method for calculating the minimum turning angle: First, the ship 100 obtained from the unmanned airplane 100 through the unmanned airplane sensor unit 120, Dimensional coordinate indicated by the photograph or ship 100 and obstacles and calculates the minimum turning angle reflecting the sailing speed of the ship 200 and the distance between the ship 200 and the obstacle on an aerial photograph or two- For example, the angle between the center line connecting the center of the ship 100 and the center of the obstacle and the straight line facing the outline of the obstacle from the center of the ship 100 can be calculated as the minimum turning angle.

The safety angle means that the ship 200 is not sufficiently steered by the minimum turning angle at which the ship 200 can avoid collision with the obstacle, And may be set in advance and stored in advance in the ship memory unit 250 according to the type of the ship 200. [

On the other hand, when there are a plurality of obstacles having a possibility of collision with the ship 200 on the target route, the ship route information generator 243 generates the ship route information based on the obstacle having the shortest distance from the ship 200 to the obstacle 200 can be calculated.

The ship path information generating unit 243 may generate a modified route by modifying the target route by reflecting the changed route in accordance with the steering direction and the primary turning angle of the ship 200. [

The ship path information generator 243 may determine that collision avoidance with an obstacle likely to collide with the ship 200 on the target route can not be avoided or the environmental external force generated by the ship environment external force information generator 242 (VTS) to the maritime traffic control center (VTS) through the ship communication unit 210. The emergency traffic signal is generated when the weather condition on the target route received from the VTS is deteriorated to such an extent that the ship 200 can not navigate VTS) or to another adjacent ship. At this time, the ship path information generating unit 243 calculates the distance to the obstacle from the current position of the ship 200 stored in the ship memory unit 250 and the type of the obstacle that can not avoid the collision according to the moving speed of the ship 200 The ship path information generation unit 243 determines whether or not the ship 200 can not navigate and the environmental external force information of the ship 200 stored in the ship memory unit 250, It is possible to determine whether or not navigation is possible according to weather information on the navigation route of the ship 200 based on the weather information.

The ship path information generating unit 243 can calculate the actual turning angle in which the primary turning angle is corrected by reflecting the bird information and the wind information generated by the ship environment external force information generating unit 242. [ When the ship 200 is affected by algae or wind, it is required to control the rudder of the ship 200 in accordance with the algae or wind so that it can navigate to the designated route. Accordingly, the ship path information generating unit 243 calculates the actual turning angle in which the first turning angle is corrected by reflecting the tide information and the wind information on the voyage path so that the ship 200 can navigate along the modified route, The controller 200 can control the rudder in accordance with the actual turning angle in the steering direction, thereby avoiding the collision with the obstacle by navigating along the corrected route.

Specifically, the ship path information generating section 243 compares the direction in which the ship must move along the direction of the alga or wind, the steering direction and the primary turning angle, and determines the direction and direction of the algae and wind The actual turning angle can be calculated by subtracting the adjusting angle according to the direction and intensity information of the tide and wind in the opposite direction from the first turning angle.

Here, the adjustment angle can be stored in the ship memory section 250. [ That is, the ship memory unit 250 may store a look-up table that defines an adjustment angle according to the direction and intensity information of algae and wind.

In this regard, it can be explained with reference to Fig. 5 and Fig.

5 and 6 are views for explaining a method of calculating an actual turning angle in a ship navigation system according to an embodiment of the present invention.

Referring to FIG. 5, the ship 200 sails along a target route, and the UAV 100 also travels along a target route, and an obstacle (a gutter line) exists on the target route. Also, it can be confirmed that the algae flow in the starboard of the ship 200.

When the ship navigation system 1000 navigates according to the first mode, the UAV 100 obtains other-line information, which is an obstacle on the target route, and transmits it to the ship 200, The steering direction and the primary turning angle? +? Of the ship 200 or the starboard of the ship 200 can be calculated so that the ship 200 can avoid collision with the other line based on the other line information received from the ship. At this time, the ship 200 calculates a steering direction that minimizes the time taken to navigate to the destination even if the route is modified, and determines a collision with the obstacle in consideration of the current position and the moving speed of the ship 200 A first turning angle? +? Is calculated by adding a safety angle? Previously stored according to the type of the ship 200 to the ship memory unit 250 at the minimum angle? Of the avoidable vessel 200 can do. For example, as shown in Fig. 5, the ship 200 can calculate " steering direction: starboard, primary turning angle: [theta] + alpha ".

In addition, the ship 200 can generate a modified route by modifying the target route by reflecting the changed route in accordance with the steering direction and the first turning angle [theta] + [alpha].

Further, the ship 200 can obtain the bird information and wind information, and calculate the actual turning angle? 'By adjusting the first turning angle? +? According to the bird information or wind information. The ship 200 compares the direction in which the ship 200 should travel along the direction of the alga or wind and the steering direction and the primary turning angle so as to adjust the adjustment angle according to the direction and intensity information of the algae and wind The actual turning angle is calculated in addition to the first turning angle &thetas; + alpha, and in the opposite direction, the adjusting angle corresponding to the direction and intensity information of the tide and wind is subtracted from the first turning angle & Can be calculated.

5, since the direction in which the ship 200 must move along with the steering direction and the primary turning angle is the same as the direction of the tide, the adjustment in correspondence with the direction and intensity of the tide in the lookup table stored in the ship memory unit 250 The actual turning angle? +? +? =? 'Can be calculated by adding the angle? To the first turning angle? + ?.

On the other hand, since the direction in which the ship 200 must move along with the steering direction and the primary turning angle is opposite to the direction of the tide direction as shown in FIG. 6, the lookup table stored in the ship memory unit 250 corresponds to the direction and intensity of the tide The actual turning angle [theta] + [alpha] - [beta] = [theta] ") can be calculated by subtracting the adjustment angle [beta] from the first turning angle [

Accordingly, the ship 200 can control the rudder angle of the ship 200 at the actual turning angle &thetas; ', thereby controlling the rudder to overcome the algae and navigate along the modified route. In addition, the vessel 200 may store the modified route as a navigation route from the current origin to the destination.

On the other hand, when the ship navigation system 1000 sails according to the second mode, the ship 200 receives the steering direction and the first turning angle &thetas; + alpha and corrected route information from the UAV 100, The ship 200 can obtain the tide information and the wind information and calculate the actual turning angle? 'By adjusting the first turning angle? +? According to the tide information or the wind information.

Accordingly, the ship 200 can control the rudder angle of the ship 200 at the actual turning angle &thetas; ', thereby controlling the rudder to overcome the algae and navigate along the modified route. In addition, the vessel 200 may store the modified route as a navigation route from the current origin to the destination.

3, the ship memory unit 250 may store a program for processing and controlling the ship control unit 240, and may perform a function for temporarily storing input / output data.

As described above, in the ship memory unit 250, the safety angle according to the type of the ship 200, the distance information from the current position of the ship 200 to the obstacle, and the collision avoidance according to the moving speed of the ship 200 are impossible Type and size information of the obstacle, and environmental external force information that the ship 200 can not navigate. In addition, the ship memory unit 250 may store a look-up table that defines an adjustment angle according to the direction and intensity information of algae and wind.

The ship driving unit 260 can control the ship 200 so that the ship 200 can navigate along the target route selected from the starting point to the destination through the selected ship external input unit 230. The ship driving section 260 controls the rudder in accordance with the actual turning angle calculated by the ship route information generating section 243 so that the ship 200 can be a corrected route generated by the ship route information generating section 233, And can navigate along a modified route received from the UAV 100 through the communication unit 210. [

When the ship navigation system 1000 navigates in the first mode according to an embodiment of the present invention, the ship 200 may use the obstacle information received from the unmanned airplane 100, 241, and generates a correction path in the ship path information generating unit 243 based on the generated obstacle information. Further, the controller acquires algae information and wind information and calculates the actual turning angle of the ship 200 accordingly You can navigate along the correction path.

In addition, when the ship navigation system 1000 is navigating in the second mode, the ship 200 receives modified route information from the UAV 100, acquires algae information and wind information, It is possible to navigate along the correction path by calculating the actual turning angle.

In addition, the ship navigation system 1000 according to an embodiment of the present invention can navigate according to one mode of the first mode or the second mode, thereby allowing the unmanned aircraft 100, the ship 200 and the VTS The obstacle information and the environmental external force information obtained from the navigation route obtained from the navigation route can be combined to generate the correct obstacle information and the environmental external force information and the modified route can be created so that the safe navigation can be performed based on the obstacle information and the environmental external force information, The first mode for generating modified route information on the ship 200 or the second mode for generating modified route information on the unmanned airplane 100 according to the state of the unmanned airplane 100 and the ship 200, have.

Hereinafter, the flow of the ship navigation method of the ship navigation system 1000 according to an embodiment of the present invention can be described with reference to FIGS. The ship navigation method according to an embodiment of the present invention is substantially the same as the ship navigation system 1000 shown in Fig. 1, the unmanned airplane 100 shown in Fig. 2, and the ship 200 shown in Fig. 3 Can proceed. Therefore, the same components as those of the ship navigation system 1000 shown in Fig. 1, the unmanned airplane 100 shown in Fig. 2 and the ship 200 shown in Fig. 3 are denoted by the same reference numerals, It is omitted. In addition, the ship navigation method according to the present embodiment can be executed by software (application) for ship navigation.

FIG. 7 is a flowchart illustrating a method for controlling an unmanned aerial vehicle in a first mode of a marine vessel handling system according to an embodiment of the present invention, and FIG. 8 is a flowchart illustrating a method for controlling an unmanned aircraft in a first mode of a marine navigation system according to an embodiment of the present invention Fig. 2 is a flowchart showing a control method of the ship of Fig.

Referring to FIG. 7, the UAV 100 may navigate (400) along a desired course of the vessel 200. When the ship 200 sets one of the navigation routes from the origin to the destination as the target route and navigates along the target route, the UAV 100 can also travel along the target route.

In addition, the UAV 100 may obtain obstacle information on the target route (410). The unmanned airplane 100 acquires obstacle information on the target route through the unmanned aerial vehicle sensor unit 120 and calculates the distance from the current location of the ship 200 to the obstacle on the navigation route of the ship 200 Thereby generating the obstacle information including the obstacle information.

In addition, the UAV 100 may transmit the obstacle information on the target route to the ship (420).

Referring to FIG. 8, the ship 200 can select one of the navigation routes from the origin to the destination as the target route, and navigate (500).

During voyage along the target route, the vessel 200 may receive the obstacle information on the target route from the UAV 100 (510).

In addition, the ship 200 can acquire algae information and wind information at the ship sensor unit (520).

In addition, the ship 200 can determine whether collision avoidance with the obstacle on the target route is impossible (530). The ship 200 can calculate the distance to the obstacle based on the distance information from the current position of the ship 200 stored in the ship memory unit 250 and the type and size information of the obstacle, It is possible to determine whether collision avoidance with the obstacle on the route is impossible.

At this time, when the ship 200 determines that collision avoidance with the obstacle on the target route is impossible, it can transmit the emergency rescue signal to the VTS or another adjacent ship (535).

Meanwhile, the ship 200 may determine whether there are a plurality of obstacles on the target route according to the obstacle information on the target route received from the UAV 100 (operation 540).

At this time, when there are a plurality of obstacles on the target route according to the obstacle information on the target route taken from the UAV 100, the ship 200 selects the obstacle with the shortest distance from the ship 200 to the obstacle 545, You can go to step.

The ship 200 can calculate the steering direction and the first turning angle so that the ship 200 can avoid the obstacle based on the obstacle having the shortest distance from the ship 200 to the obstacle 550. [

In addition, the ship 200 may generate a corrected route by modifying the target route by reflecting the changed route according to the steering direction and the first turning angle (560).

In addition, the ship 200 can calculate the actual turning angle 570 by reflecting the tilt angle or the tilt angle according to the wind information to the first turning angle. The ship 200 compares the direction in which the ship should travel along the direction of the alga or wind, the steering direction and the primary turning angle, and adjusts the adjustment angle according to the direction and intensity information of the algae and wind in the same direction, The actual turning angle is calculated in addition to the angle, and in the opposite direction, the actual turning angle can be calculated by subtracting the adjusting angle according to the direction and intensity information of the algae and wind from the first turning angle.

In addition, the ship 200 can steer along the modified route in accordance with the actual turning angle in the steering direction (580). Therefore, the ship 200 can avoid the collision with the obstacle and can safely navigate to the destination.

Finally, the ship 200 may store the generated modified route as a navigation route from the current origin to the destination (590).

9 is a flowchart illustrating a method for controlling an unmanned aerial vehicle in a second mode of a ship navigation system according to an embodiment of the present invention, FIG. 2 is a flowchart showing a method of controlling a ship in a mode. FIG.

Referring to FIG. 9, the UAV 100 may navigate (600) along a desired course of the vessel 200. When the ship 200 sets one of the navigation routes from the origin to the destination as the target route and navigates along the target route, the UAV 100 can also travel along the target route.

In addition, the UAV 100 may acquire the obstacle information on the target route (610).

In addition, the UAV 100 may determine whether collision avoidance with the obstacle on the target route is impossible (620). The unmanned airplane 100 is based on the distance information from the current position of the ship 200 stored in the unmanned aircraft memory unit 150 to the obstacle and the type and size information of the obstacle that can not avoid the collision according to the moving speed of the ship 200 It is possible to determine whether collision avoidance with the obstacle on the target route is impossible or not.

At this time, if the UAV 100 determines that it is impossible to avoid the collision with the obstacle on the target route, the UAV 100 may transmit the emergency rescue signal to the VTS or another adjacent ship (625).

Meanwhile, the UAV 100 may determine whether there are a plurality of obstacles on the target route (630).

At this time, if there are a plurality of obstacles on the target route, the UAV 100 can select the obstacle with the shortest distance from the ship 200 to the obstacle (step 635) and proceed to the next step.

The UAV 100 may calculate the steering direction and the first turning angle so that the ship 200 can avoid the obstacle based on the obstacle having the shortest distance from the ship 200 to the obstacle 640.

In addition, the UAV 100 may generate the modified route by modifying the target route by reflecting the changed route according to the steering direction and the first turning angle (650).

In addition, the UAV 100 may transmit the steering direction, the first turning angle, and the modified route of the ship 200 to the ship (660).

Referring to FIG. 10, the ship 200 can select one of the navigation routes from the origin to the destination as the target route, and navigate (700).

During voyage along the target route, the vessel 200 may receive steering direction, primary turn angle and modified route from the UAV 100 (710).

In addition, the ship 200 may acquire algae information and wind information through the ship sensor unit 220 (720). The ship 200 can acquire the direction and intensity information of the algae and the wind on the basis of the ship 200.

In addition, the ship 200 can calculate the actual turning angle by reflecting the tide angle or the tilt angle according to the wind information to the first turning angle (730). The ship 200 compares the direction in which the ship should travel along the direction of the alga or wind, the steering direction and the primary turning angle, and adjusts the adjustment angle according to the direction and intensity information of the algae and wind in the same direction, The actual turning angle is calculated in addition to the angle, and in the opposite direction, the actual turning angle can be calculated by subtracting the adjusting angle according to the direction and intensity information of the algae and wind from the first turning angle.

In addition, the ship 200 can navigate along the modified route in accordance with the actual turning angle in the steering direction (740). Therefore, the ship 200 can avoid the collision with the obstacle and can safely navigate to the destination.

Finally, the ship 200 can store the generated modified route as a navigation route from the current origin to the destination (750). Accordingly, when the ship 200 sails to the destination from the same starting point as the present one, the ship 200 can navigate by setting one target route in the navigation route including the corrected route.

Such an unmanned aircraft-based ship navigation method may be implemented in an application or may be implemented in the form of program instructions that can be executed through various computer components and recorded on a computer-readable recording medium. The computer-readable recording medium may include program commands, data files, data structures, and the like, alone or in combination.

The program instructions recorded on the computer-readable recording medium may be ones that are specially designed and configured for the present invention and are known and available to those skilled in the art of computer software.

Examples of computer-readable recording media include magnetic media such as hard disks, floppy disks and magnetic tape, optical recording media such as CD-ROMs and DVDs, magneto-optical media such as floptical disks, media, and hardware devices specifically configured to store and execute program instructions such as ROM, RAM, flash memory, and the like.

Examples of program instructions include machine language code such as those generated by a compiler, as well as high-level language code that can be executed by a computer using an interpreter or the like. The hardware device may be configured to operate as one or more software modules for performing the processing according to the present invention, and vice versa.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it will be understood by those skilled in the art that various changes and modifications may be made therein without departing from the spirit and scope of the invention as defined in the appended claims. It will be possible.

1000: Unmanned aircraft based navigation system
100: Unmanned aircraft
200: Ship

Claims (20)

And navigating along the target route by setting one of the at least one navigation route, which is a navigation route from the origin to the destination, as the target route,
Receiving obstacle information on the target route from an unmanned aircraft operating along the target route,
A first straight line connecting the ship and the obstacle so as to avoid a collision with the obstacle on the target route when there is an obstacle likely to be collided on the target route based on the obstacle information received from the unmanned airplane, Comparing the obstacle with a second straight line connecting the destination to calculate a steering direction so as to avoid a collision with an obstacle on the target route, and based on the obstacle information received from the unmanned airplane, In the event that there is an obstacle with a possibility of collision, an obstacle on the target route from the current position of the ship in accordance with the distance between the navigation speed of the ship and the obstacle on the target route so as to avoid collision with the obstacle on the target route, And a safety angle previously stored in the minimum turning angle that can avoid collision with the first The minimum turning angle is obtained by obtaining the two-dimensional coordinates of the aeronautical photographs or the ship and obstacles containing the ship and the obstacle from the unmanned airplane, determining the sailing speed of the ship on the aerial photograph or two- So as to generate a corrected route in which the target route is modified by reflecting the changed route in accordance with the steering direction and the primary turning angle,
Obtaining an actual turning angle capable of sailing along the modified route by correcting the first turning angle in accordance with the bird information or the wind information,
And steering along the modified route in accordance with the actual turning angle in the steering direction.
delete delete The method according to claim 1,
Calculating the steering direction and the first turning angle so as to avoid a collision with the obstacle on the target route,
Calculating the steering direction and the first turning angle so as to avoid a collision with the obstacle on the basis of the obstacle having the shortest distance from the obstacle among the plurality of obstacles when the obstacle on the target route is plural A method of navigating a ship based on unmanned aircraft. The method according to claim 1,
Obtaining the algae information and the wind information includes:
And acquiring the direction and intensity information of the algae and the wind based on the traveling direction of the ship. 6. The method of claim 5,
Calculating the actual turning angle in which the primary turning angle is adjusted in consideration of the bird information or the wind information,
A direction in which the ship must travel in accordance with the direction of the algae or the wind, the steering direction and the primary turning angle, and uses a look-up table that defines an adjustment angle in accordance with the direction and intensity information of the algae and the wind Wherein the actual turning angle obtained by adjusting the first turning angle is calculated. The method according to claim 1,
When it is determined that collision avoidance with the obstacle is impossible on the basis of the distance information with respect to the obstacle previously stored and the type and size information of the obstacle which can not avoid the collision according to the sailing speed of the ship, Further comprising transmitting an emergency rescue signal to another adjacent ship. delete delete delete delete delete delete delete A ship navigating along the target route with one of the at least one navigational route being the navigation route from the origin to the destination as the target route;
An unmanned aerial vehicle sensor unit for navigating along a target course of the ship and acquiring obstacle information on the target course, calculating a steering direction and a first turning angle of the ship in accordance with the obstacle information on the target course, An unmanned airplane control unit for generating a modified route by modifying the target route by reflecting a route changed by an angle, and an unmanned airplane control unit for transmitting the obstacle information on the target route, the steering direction, the first turning angle, And an unmanned aircraft including an aircraft communication unit,
The ship,
Receiving obstacle information on the target route from an unmanned aircraft operating along the target route,
A first straight line connecting the ship and an obstacle so as to avoid a collision with the obstacle on the target route, and a second straight line connecting the obstacle and the ship so as to avoid a collision with the obstacle on the target route, A second straight line connecting the obstacle and the destination to calculate a steering direction so as to avoid a collision with the obstacle on the target route, and based on the obstacle information received from the unmanned airplane, In the case where there is an obstacle having a possibility of collision on the target route, the obstacle obstructing the obstacle on the target route can be avoided from the current position of the ship in accordance with the traveling speed of the ship and the distance between the obstacle on the target route, The safety angle previously stored in the minimum turning angle that can avoid collision with the obstacle is added The minimum turning angle is obtained by obtaining the two-dimensional coordinates of the aeronautical photographs or the ship and obstacles containing the ship and the obstacle from the unmanned airplane, and determining the sailing speed of the ship and the ship To generate a modified route that is obtained by modifying the target route by reflecting the route changed in accordance with the steering direction and the first turning angle,
Obtaining an actual turning angle capable of sailing along the modified route by correcting the first turning angle in accordance with the bird information or the wind information,
Wherein the navigation system steers according to the actual turning angle in the steering direction and sails along the modified route. 16. The method of claim 15,
The ship,
And a ship sensor unit for acquiring direction and intensity information of the algae and wind on the basis of the traveling direction of the ship. delete 16. The method of claim 15,
The ship,
Up table by using a look-up table that compares the direction in which the ship should travel along the direction of the algae or the wind and the primary turning angle and defines an adjustment angle according to the direction and intensity information of the algae and the wind, And a vessel control unit for calculating the actual turning angle in which the turning angle is adjusted. delete 16. The method of claim 15,
The ship,
Further comprising storing the modified route as at least one of the navigation routes from the source to the destination.
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