KR101823030B1 - System for avoiding risk environments of ship and method for avoiding using the same - Google Patents

System for avoiding risk environments of ship and method for avoiding using the same Download PDF

Info

Publication number
KR101823030B1
KR101823030B1 KR1020160010633A KR20160010633A KR101823030B1 KR 101823030 B1 KR101823030 B1 KR 101823030B1 KR 1020160010633 A KR1020160010633 A KR 1020160010633A KR 20160010633 A KR20160010633 A KR 20160010633A KR 101823030 B1 KR101823030 B1 KR 101823030B1
Authority
KR
South Korea
Prior art keywords
ship
information
condition
speed
angle
Prior art date
Application number
KR1020160010633A
Other languages
Korean (ko)
Other versions
KR20170090138A (en
Inventor
이아람
Original Assignee
대우조선해양 주식회사
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 대우조선해양 주식회사 filed Critical 대우조선해양 주식회사
Priority to KR1020160010633A priority Critical patent/KR101823030B1/en
Publication of KR20170090138A publication Critical patent/KR20170090138A/en
Application granted granted Critical
Publication of KR101823030B1 publication Critical patent/KR101823030B1/en

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H21/00—Use of propulsion power plant or units on vessels
    • B63H21/21—Control means for engine or transmission, specially adapted for use on marine vessels
    • 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
    • G06Q50/30—
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
    • B63B2035/006—Unmanned surface vessels, e.g. remotely controlled
    • B63B2035/007—Unmanned surface vessels, e.g. remotely controlled autonomously operating

Landscapes

  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Business, Economics & Management (AREA)
  • Operations Research (AREA)
  • Tourism & Hospitality (AREA)
  • Traffic Control Systems (AREA)

Abstract

The present invention relates to a ship capable of avoiding a dangerous situation by controlling the voyage of the ship such that the environmental information of the ship determined in consideration of the surrounding environment information of the ship and the dynamic parameter of the ship is not included in the predefined conditions And a avoidance method using the same.
According to an aspect of the present invention, there is provided a ship risk avoidance system including a database for storing shape information of a ship, and a sensor system for measuring a surrounding environment of the ship and motion information of the ship, Calculating a dynamic characteristic parameter value of the ship using the shape information of the ship stored in the database and the motion information measured from the sensor system; Determining whether environmental information of the ship determined in consideration of the calculated parameter value and surrounding environment information including a wave and weather measured from the sensor system is included in a predefined risk condition; And controlling the voyage of the ship so as not to be included in the condition according to the danger condition if the environment information of the ship is included in the condition according to the danger condition as a result of the determination in the determining step An avoidance method using an environmental avoidance system is provided.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a risk avoidance system for a ship,

More particularly, the present invention relates to a risk environment avoiding system for a ship, and more particularly, to a risk avoidance system for a ship, in which environmental information of a ship, The present invention relates to a dangerous environment avoiding system for a ship, which is capable of avoiding a dangerous situation by controlling the navigation of a ship so as not to be included in a ship.

An unmanned vessel, ie a drone ship, is a vessel capable of navigating a defined route automatically without a crew member and, where necessary, controlling the navigation and engine parts (eg engine, rudder device) from a remote control center .

On the other hand, a remote control center is needed to remotely control unmanned vessels and fleets on the ground. In order to solve technical problems and legal problems, the master and chief engineers must conduct direct command by remote control center.

The above-mentioned unmanned ships are in a state of being filed in addition to Korean Registered Patent No. 0734814 (Jun. 27, 2007).

Such a conventional unmanned aerial vehicle autonomously controls the operation of a watercraft or aqueduct by an automatic navigation program and moves only in a predetermined direction and speed in unexpected bad weather, thereby deteriorating the stability of the operation.

In addition, conventional unmanned vessels refer to unexpected weather, that is, those that do not reflect bad weather, so that the operating economics of the vessel is low and in the extreme case there is a risk of unmanned ship overturning and sinking.

Korean Registered Patent No. 0734814 (Jun. 27, 2007) "Autonomous Unmanned Ship"

The object of the present invention is to prevent the dangerous situation by controlling the navigation of the ship so that the environmental information of the ship determined by taking into consideration the surrounding environment information of the ship and the dynamic parameter of the ship is not included in the predefined conditions of the dangerous situation And a method of avoiding the risk environment.

According to an aspect of the present invention, there is provided a ship risk avoidance system including a database for storing shape information of a ship, and a sensor system for measuring a surrounding environment of the ship and motion information of the ship, Calculating a dynamic characteristic parameter value of the ship using the shape information of the ship stored in the database and the motion information measured from the sensor system; Determining whether environmental information of the ship determined in consideration of the calculated parameter value and surrounding environment information including a wave and weather measured from the sensor system is included in a predefined risk condition; And controlling the voyage of the ship so as not to be included in the condition according to the danger condition if the environment information of the ship is included in the condition according to the danger condition as a result of the determination in the determining step An avoidance method using an environmental avoidance system is provided.

Wherein the step of controlling includes controlling the speed of the ship to escape a dangerous condition based on the shape information of the ship and the surrounding environment information when the environment information of the ship is included in the condition of the danger situation, Calculating; And if the environmental information of the ship which further reflects the calculated speed of the ship is not included in the condition for each danger situation, the speed of the ship is applied to the AES provided in the ship to control the ship to travel at the speed of the ship Step < / RTI >

Calculating the angle of the ship based on the shape information of the ship and the surrounding environment information when the environment information of the ship is included in the condition according to the dangerous condition as a result of the determining step; And if the environmental information of the ship which further reflects the calculated angle of the ship is not included in the condition for each danger condition, the calculated angle of the ship is applied to the rudder provided in the ship so as to be navigated at the angle of the ship Step < / RTI >

Wherein the controlling step calculates the speed of the ship and the angle of the ship on the basis of the shape information of the ship and the surrounding environment information when the environment information of the ship is included in the condition according to the risk situation ; And if the environmental information of the ship reflecting the calculated speed and angle of the ship is not included in the condition for each danger condition, the calculated speed and angle of the ship are applied to the AES and the rudder device provided in the ship, And controlling to be sailed at an angle.

The first condition is that the speed of the ship is the same as the speed of the ship and the direction of the wave is a certain direction. The second condition is that the wave length of the ship is longer than the maximum wavelength standard and the minimum wavelength standard. A fourth condition in which the height of the wave reflecting the length of the wave is out of the maximum peak reference, a fourth condition in which the resonance period of the wave is equal to the resonance period of the wave, and a fifth condition in which the lateral restoring force of the ship is out of a certain range, May include outputting notification information indicating that the ship is in a dangerous situation when the environment information of the ship includes any one of the first to fifth conditions.

Wherein the avoiding guide information set for each of the first to fifth conditions is stored in the database, and the controlling step is a step for setting avoiding guide information set for conditions included in the first to fifth conditions, The angle of the ship, or the speed and angle of the ship to control the ship.

Further, in the avoidance method using the hazardous environment avoiding system of a ship according to an embodiment of the present invention, a step of setting a nautical route to a departure place and a destination place of the ship before the controlling step; Generating a plurality of midpoints having a predetermined distance from the set start point and the destination point; Collecting the plurality of generated intermediate point weather information; Calculating stability and fuel consumption of a plurality of intermediate points generated using the collected weather information and characteristics of the unmanned vessel; Selecting a midpoint of a minimum fuel consumption amount that ensures stability according to the calculated stability of the plurality of intermediate points and the fuel consumption amount; And generating an intermediate point at a predetermined distance from the selected intermediate point to generate a navigation route to the intermediate points to the destination.

According to another embodiment of the present invention, there is provided a sensor system for measuring a surrounding environment of a ship and motion information of the ship; And calculating a dynamic parameter value of the ship using the shape information of the ship stored in the database and the motion information measured from the sensor system, And a navigation system for controlling the navigation of the ship so that the environmental information of the ship determined in consideration of the information is not included in the predefined condition for each dangerous situation.

Wherein the navigation system calculates the speed of the ship on the basis of the shape information of the ship and the surrounding environment information when the environmental information of the ship is included in the condition of the danger situation, If the information is not included in the risk condition, the calculated speed of the ship may be applied to the AES provided in the ship to control the ship to travel at the speed of the ship.

The navigation system calculates the angle of the ship based on the shape information of the ship and the surrounding environment information when the environmental information of the ship is included in the condition of the danger situation, If the information is not included in the risk condition, the calculated angle of the ship may be applied to the rudder provided in the ship to control the navigation to the angle of the ship.

Wherein the navigation system calculates the speed and angle of the ship based on the shape information of the ship and the surrounding environment information when the environmental information of the ship is included in the condition of the danger situation, If the reflected environmental information of the ship is not included in the condition according to the risk situation, the calculated speed and angle of the ship may be applied to the AES and rudder device provided in the ship to control the ship to travel at the speed and angle of the ship.

The first condition is that the speed of the ship is the same as the speed of the ship and the direction of the wave is a certain direction. The second condition is that the wave length of the ship is longer than the maximum wavelength standard and the minimum wavelength standard. A fourth condition in which the height of the wave reflecting the length of the wave is out of the maximum wave height reference, a fourth condition in which the resonance period of the wave is equal to the resonance period of the wave, and a fifth condition in which the lateral restoring force of the ship is out of a certain range, The system may output notification information indicating that the ship is in a dangerous situation when the environmental information of the ship includes any one of the first to fifth conditions.

The navigation system stores avoiding guide information set for each of the first through fifth conditions, and controls the navigating of the ship using the avoiding guide information set in the conditions included in the first through fifth conditions The speed, angle of the ship, or speed and angle of the ship can be calculated.

The vessel may be an unmanned vessel.

The navigation system sets a navigation route to the departure point and the destination of the ship, and when a predetermined harsh environment is included in the set navigation route, the navigation route from the route immediately before the route including the harsh environment to the destination is reset .

According to the embodiment of the present invention, the navigation of the ship is controlled so that the environment information of the ship determined by taking into consideration the surrounding environment information of the ship and the dynamic parameter of the ship is not included in the predefined conditions for the dangerous situation, There is an effect that can be.

In addition, according to the embodiment of the present invention, it is possible to set the navigation route to the departure place and the destination place, to collect weather information by the navigation route between the departure place and the destination place of the set ship, to secure the stability of the ship by using the collected weather information and the ship characteristic By choosing the midpoint of the minimum fuel consumption and creating a midpoint at a certain distance from the selected midpoint, the final navigation route is created with all the midpoints to the destination, thus ensuring the stability of the vessel while minimizing fuel consumption So that it is possible to follow the safe route and reduce the fuel cost.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a block diagram for explaining a dangerous environment avoidance system for a ship according to an embodiment of the present invention;
2 is a block diagram for explaining the navigation system shown in Fig. 1, and Fig.
3 is a flowchart illustrating an avoidance method using a hazardous environment avoidance system according to an embodiment of the present invention.

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

FIG. 1 is a block diagram for explaining a dangerous environment avoidance system for a ship according to an embodiment of the present invention, and FIG. 2 is a block diagram for explaining the navigation system shown in FIG.

Referring to FIG. 1, a ship's hazardous environment avoidance system according to an embodiment of the present invention includes a sensor system 10, an information processing module 40, a land server 45, a navigation system 50, An SCC (Shore Control Center) 60, an AES (Engine Room Core Module) 70, a rudder device 80 and an adjusting device 90.

1 is a dangerous environment avoiding system applied to an unmanned ship capable of autonomous operation. The hazardous environment avoiding system applied to an unmanned ship includes a sensor system 10, a navigation system 50, an AES (70) and a rudder device (80).

Hereinafter, the ship will be described as an unmanned ship only.

The sensor system 10 is composed of various sensors and cameras installed in an unmanned ship. Various sensors are used to measure the surroundings of unmanned vessels such as weather measurement sensors, wave measurement sensors and wind measurement sensors, visual sensors for identification of obstacles located around unmanned vessels, and factors necessary for autonomous navigation Sensors for measuring, for example, speed measuring sensors, direction measuring sensors, and the like.

The information processing module 40 receives the information provided from the sensor system 10, collects the collected information, and transmits the processed ship-related data to the navigation system 50 and the remote control center 60. At this time, the information processing module 40 transmits the processed ship-related data to the navigation system 50. The remote control control center 60 is transferred to the adjustment device 90 via the information processing module 40 or via the navigation system 50 if necessary.

The navigation system 50 calculates the ship's dynamic characteristic parameter value by using the ship's motion information among the ship-related data received from the information processing module 40, the shape information of the ship stored in the database 50a, And determines whether or not the environment information of the ship determined in consideration of the calculated dynamic characteristic parameter value of the ship and the surrounding environment information received from the sensor system 10 is included in the predefined condition for each dangerous situation, To control the navigation of the ship.

2, the navigation system 50 includes a reception unit 51, a calculation unit 52, a determination unit 53, and a navigation control unit 54.

The receiving unit 51 receives the surrounding environment information of the ship and the motion information of the ship from the sensor system 10 described above.

The receiving unit 51 receives the weather information of the ship measured from the weather sensor and the wave sensor included in the sensor system 10.

The calculation unit 52 calculates the dynamic characteristic parameter value of the ship using the shape information (for example, the length of the ship) of the ship stored in the database 50a and the motion information of the ship received through the receiving unit 51 .

The determination unit 53 determines whether the environment information of the ship determined based on the calculated dynamic characteristic parameter of the ship and the surrounding environment information of the ship received through the receiver 51 is included in the predefined risk condition do.

The predefined hazardous conditions are the first condition that the velocity of the vessel is the same as the velocity of the wave and the direction of the wave is a certain direction, the second condition that the wavelength of the wave reflecting the length of the ship is out of the maximum wavelength reference and minimum wavelength reference A third condition in which the height of the wave reflecting the length of the ship is out of the maximum peak reference, a fourth condition in which the resonance period of the ship is equal to the resonance period of the waves, and a fifth condition in which the lateral stability of the ship is out of a certain range. Avoidance guide information is set for each of the first to fifth conditions.

More specifically, the determination unit 53 determines the environment information of the ship (that is, the angle of the wave, the wavelength, the height of the wave, the period of meeting with the wave, Rolling period) is included in any one of the above-mentioned first to fifth conditions, it is determined that the ship is in a dangerous state, and if it is not included in all of the first to fifth conditions, .

As a result of the determination by the determination unit 53, when the environment information of the ship is included in any one of the first to fifth conditions described above, the calculation unit 52 calculates the condition of the dangerous situation, for example, 1 to calculate the speed of the ship to avoid.

Figure 112017083069817-pat00006

Here, Vs is the speed of the ship, Lpp is the length of the ship,

Figure 112016009434719-pat00002
Means the angle with which waves meet with respect to the ship.

The determination unit 53 determines whether the environment information of the ship that further reflects the calculated speed of the ship is included in the first to fifth conditions described above. If it is determined that the environment information of the ship is included in all of the first to fifth conditions If not included, the navigation control unit 54 controls the navigation at the speed of the calculated ship.

As a result of the determination by the determination unit 53, when the environment information of the ship that further reflects the calculated speed of the ship is included in any one of the first to fifth conditions described above, 1 to calculate the speed of the ship to avoid.

The determination unit 53 determines whether the environment information of the ship that further reflects the calculated angle of the ship is included in the first to fifth conditions described above. If it is determined that the environment information of the ship is included in all of the first to fifth conditions If not included, the navigation control unit 54 controls the navigation of the ship at the calculated ship angle.

In addition, when the environmental information of the ship, which further reflects the speed of the calculated ship or the angle of the calculated ship, is included in any one of the first to fifth conditions described above, It is determined whether or not the environmental information of the ship reflecting all of the angles of the calculated ship is included in any one of the first to fifth conditions described above.

As a result of the determination by the determination unit 53, when the environmental information of the ship, which reflects both the calculated speed of the ship and the calculated angle of the ship, is not included in the first to fifth conditions, the navigation control unit 54 determines, And the angles of the calculated vessels.

If the environmental information of the ship reflecting all of the calculated ship speed and the calculated heading direction is included in any one of the first to fifth conditions described above, the navigation control unit 54 determines that the ship is in a dangerous situation Ali outputs the notification information.

The navigation system 50 controls the navigation by transmitting a navigation signal according to the navigation route generated by using the origin and the destination specified by the source or received from the outside, to the AES 70 and the rudder device 80. At this time, the navigation signal may be transmitted to the AES 70 to control the speed of the unmanned ship, or may be transmitted to the rudder device 80 to control the direction of the unmanned ship.

The navigation system 50 can receive not only the sensors installed on the ship but also the weather information provided by the satellites to determine whether or not harsh environmental conditions are included in the navigation route from the origin to the destination.

Particularly, the navigation system 50 sets the starting point and destination information of the ship, collects a plurality of intermediate points having a predetermined distance from the set origin and destination, The stability and fuel consumption of several intermediate points generated by using the weather information and the characteristics of the ship are calculated and the midpoint of the minimum fuel consumption which is stabilized according to the stability of the calculated intermediate points and the fuel consumption is selected And generate a midpoint at a certain distance from the selected midpoint to generate a navigation route to midpoints to the destination. At this time, the navigation system 50 receives the weather data for the entire navigation period from the satellite to calculate the navigation route, and then, when the navigation is being performed, for example, have.

The avoidance method using the hazardous environment avoidance system of a ship having such a configuration will be described with reference to FIG.

3 is a flowchart illustrating an avoidance method using a hazardous environment avoidance system according to an embodiment of the present invention.

Referring to FIG. 3, the navigation system 50 of the present invention receives motion information of the ship and information about the environment of the ship (S11). The motion information of the ship may be, for example, the rolling information of the ship. The surrounding environment information of the ship includes the current weather and waves of the ship to be operated.

The navigation system 50 calculates the dynamic parameter of the ship using the shape information of the ship stored in the database 50a and the motion information of the ship (S13).

The navigation system 50 determines whether the environmental information of the ship, which is determined by reflecting the dynamic characteristic parameter value of the ship and the surrounding environment information, is included in the predefined condition for each dangerous situation (S15). The predefined conditions for each risk condition include the first to fifth conditions described above.

If it is determined in step S15 that the environment information of the ship is not included in the predefined risk condition, the navigation system 50 moves the process to the step S11 described above to calculate the motion information of the ship and the surrounding environment information From the sensor system (10).

If it is determined in step S15 that the environment information of the ship is included in the predefined risk condition, the navigation system 50 may transmit the shape information and the surrounding information of the ship to the ship (S17).

The navigation system 50 determines whether the environmental information of the ship that further reflects the calculated speed of the ship is included in the predefined conditions for each risk situation (S19).

If it is determined in step S19 that the environmental information of the ship is not included in the predefined risk condition, the navigation system 50 applies the navigation control signal to the AES 70 so as to navigate at the calculated speed of the ship, (S20).

If it is determined in step S19 that the environment information of the ship is included in the predefined risk condition, the navigation system 50 calculates the angle of the ship, that is, the heading direction of the ship (S21).

The navigation system 50 determines whether the environmental information of the ship that further reflects the heading direction of the ship is included in the predefined condition for each risk situation (S23).

If it is determined in step S23 that the environment information of the ship is not included in the predefined risk condition, the navigation system 50 applies the navigation control signal to the rudder device 80 so as to navigate at the calculated ship angle The angle of the ship is controlled (S22).

If it is determined in step S23 that the environment information of the ship is included in the predefined risk condition, the navigation system 50 calculates the speed of the ship calculated in step S17 and the angle of the ship calculated in step S21 (Step S25). If the environmental information of the ship is included in the predefined risk-based condition (S25).

If it is determined in step S25 that the environment information of the ship, which further reflects the speed of the ship and the angle of the ship, is not included in the predefined risk condition, the navigation system 50 calculates the speed of the ship and the angle of the ship The navigation control signal is generated to be sailed and applied to the AES 70 and the rudder device 80 to control the speed and angle of the ship, respectively (S26).

As a result of the determination in step S25, when the environment information of the ship that further reflects the speed of the ship and the angle of the ship is included in the predefined conditions for each danger condition, the navigation system 50 provides notification information that the ship is in a dangerous situation (S27).

By doing so, if there is a danger to the surrounding environment of the ship, it is possible to stabilize the operation by controlling the speed, angle and speed and angle of the ship. In addition, stable operation can increase the efficiency of the ship more than bad weather.

The invention being thus described, it will be obvious that the same way may be varied in many ways. Such modifications are intended to be within the spirit and scope of the invention as defined by the appended claims.

10: sensor system 40: information processing module
41: information receiving unit 42: information processing unit
43: Information transmission unit 45:
50: navigation system 50a: database
51: Receiving unit 52:
53: Judgment section 54: Navigation control section
60: Remote Control Center 70: AES
80: rudder device 90: adjusting device

Claims (15)

1. A ship avoiding method using a ship dangerous environment avoiding system including a database for storing shape information of a ship, and a sensor system for measuring a surrounding environment of the ship and motion information of the ship,
Calculating dynamic parameter values of the ship using shape information of the ship stored in the database and motion information measured from the sensor system;
Determining whether environmental information of the ship determined in consideration of the calculated parameter value and surrounding environment information including a wave and weather measured from the sensor system is included in a predefined risk condition; And
And controlling the voyage of the ship so as not to be included in the condition according to the risk condition if the environment information of the ship is included in the condition according to the risk situation as a result of the determining step,
The first condition is that the speed of the ship is the same as the speed of the ship and the direction of the wave is a certain direction. The second condition is that the wavelength of the wave reflecting the length of the ship is out of the maximum wavelength standard and the minimum wavelength standard. The fourth condition in which the height of the wave reflecting the length of the wave is out of the maximum wave height reference, the fourth condition in which the resonance period of the wave is equal to the resonance period of the wave, and the fifth condition in which the lateral resilience of the ship is out of a certain range,
The step of controlling
And outputting notification information indicating that the ship is in a dangerous situation when the environmental information of the ship includes any one of the first to fifth conditions. The method according to claim 1,
The step of controlling
Calculating a speed of the vessel to deviate from a dangerous condition based on the shape information of the ship and the surrounding environment information when the environment information of the ship is included in the condition of the danger situation as a result of the determining step; And
If the environmental information of the ship which further reflects the calculated speed of the ship is not included in the condition for each danger condition, the speed of the ship is applied to the AES provided in the ship to control the ship to travel at the speed of the ship Wherein the risk avoidance system includes a risk avoidance system for the ship. The method according to claim 1,
The step of controlling
Calculating an angle of the ship based on the shape information of the ship and the surrounding environment information when the environment information of the ship is included in the condition according to the danger condition as a result of the determining step; And
If the environmental information of the ship which further reflects the calculated angle of the ship is not included in the condition for each of the risk situations, applying the calculated angle of the ship to the rudder provided in the ship to control the navigation to the angle of the ship Wherein the risk avoidance system comprises a risk avoidance system for the ship. The method according to claim 1,
The step of controlling
Calculating the speed of the ship and the angle of the ship based on the shape information of the ship and the surrounding environment information when the environment information of the ship is included in the condition according to the danger condition as a result of the determining step; And
If the environmental information of the ship reflecting the calculated speed and angle of the ship is not included in the condition according to the danger condition, the calculated speed and angle of the ship are applied to the AES and the rudder device provided in the ship, And controlling the boat to be sailed at an angle. delete The method according to claim 1,
Wherein the avoidance guide information set for each of the first to fifth conditions is stored in the database,
The step of controlling
And calculating the speed and angle of the ship or the speed and angle of the ship for controlling the navigation of the ship using the avoiding guide information set in the conditions included in the first to fifth conditions The avoidance method using the hazardous environment avoidance system of ship. The method according to claim 1,
Prior to said controlling step,
Setting a navigation route to a departure point and a destination point of the ship;
Generating a plurality of midpoints having a predetermined distance from the set start point and the destination point;
Collecting the plurality of generated intermediate point weather information; Calculating stability and fuel consumption of a plurality of intermediate points generated by using the collected weather information and characteristics of the ship;
Selecting a midpoint of a minimum fuel consumption amount that ensures stability according to the calculated stability of the plurality of intermediate points and the fuel consumption amount; And
And generating a midpoint at a predetermined distance from the selected midpoint to generate a navigation route with the midpoints to the destination. A sensor system for measuring a surrounding environment of the ship and motion information of the ship; And
Calculating a dynamic characteristic parameter value of the ship using the shape information of the ship stored in the database and the motion information measured from the sensor system, and calculating surrounding parameter information including the calculated parameter value and the wave and weather measured from the sensor system And a navigation system for controlling the navigation of the ship so that the environment information of the ship determined in consideration of the risk situation is not included in the predefined conditions for the dangerous situation,
The first condition is that the speed of the ship is the same as the speed of the ship and the direction of the wave is a certain direction. The second condition is that the wavelength of the wave reflecting the length of the ship is out of the maximum wavelength standard and the minimum wavelength standard. The fourth condition in which the height of the wave reflecting the length of the wave is out of the maximum wave height reference, the fourth condition in which the resonance period of the wave is equal to the resonance period of the wave, and the fifth condition in which the lateral resilience of the ship is out of a certain range,
Wherein the navigation system outputs notification information indicating that the ship is in a dangerous situation when the environment information of the ship includes any one of the first to fifth conditions. The method of claim 8,
Wherein the navigation system calculates the speed of the ship on the basis of the shape information of the ship and the surrounding environment information when the environmental information of the ship is included in the condition of the danger situation, Wherein if the information is not included in the risk condition, the calculated speed of the ship is applied to the AES provided in the ship to control the ship to travel at the speed of the ship. The method of claim 8,
The navigation system calculates the angle of the ship based on the shape information of the ship and the surrounding environment information when the environmental information of the ship is included in the condition of the danger situation, And if the information is not included in the risk condition, the calculated angle of the ship is applied to the rudder provided in the ship to control the ship so as to navigate at the angle of the ship. The method of claim 8,
Wherein the navigation system calculates the speed and angle of the ship based on the shape information of the ship and the surrounding environment information when the environmental information of the ship is included in the condition of the danger situation, And the calculated speed and angle of the ship are applied to the AES and the rudder device provided in the ship to control the ship so as to be sailing at the speed and angle of the ship if the environment information of the reflected ship is not included in the condition for each dangerous situation Hazardous environment avoidance system of ship. delete The method of claim 8,
The navigation system stores avoiding guide information set for each of the first through fifth conditions, and controls the navigating of the ship using the avoiding guide information set in the conditions included in the first through fifth conditions The vessel speed, the angle, or the velocity and angle of the vessel. The method of claim 8,
Wherein the vessel is an unmanned vessel. The method of claim 8,
Wherein the navigation system sets a navigation route to a departure point and a destination of the ship and collects weather information for each set navigation route to generate an optimal navigation route having the lowest fuel consumption rate for a predetermined navigation time period Avoidance system.
KR1020160010633A 2016-01-28 2016-01-28 System for avoiding risk environments of ship and method for avoiding using the same KR101823030B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
KR1020160010633A KR101823030B1 (en) 2016-01-28 2016-01-28 System for avoiding risk environments of ship and method for avoiding using the same

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
KR1020160010633A KR101823030B1 (en) 2016-01-28 2016-01-28 System for avoiding risk environments of ship and method for avoiding using the same

Publications (2)

Publication Number Publication Date
KR20170090138A KR20170090138A (en) 2017-08-07
KR101823030B1 true KR101823030B1 (en) 2018-01-31

Family

ID=59653914

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1020160010633A KR101823030B1 (en) 2016-01-28 2016-01-28 System for avoiding risk environments of ship and method for avoiding using the same

Country Status (1)

Country Link
KR (1) KR101823030B1 (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR102269676B1 (en) 2020-10-14 2021-06-25 제모스 주식회사 Device and method for Auto vessel collision prevention
KR102335358B1 (en) 2021-04-22 2021-12-06 주식회사 산엠티 System of displaying next generation electronic navigation chart with risk notification function

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR102587291B1 (en) * 2018-09-27 2023-10-11 한화오션 주식회사 Autopilot system for unmanned ship
KR102598028B1 (en) * 2018-11-07 2023-11-03 에스케이텔레콤 주식회사 Method for managing ship safety using communications network and apparatus therefor
NO345528B1 (en) * 2018-12-20 2021-03-29 Kongsberg Maritime CM AS Vessel environment condition assessment system and method
KR102169701B1 (en) * 2019-02-26 2020-10-26 경기과학기술대학교 산학협력단 System for colleting marine waste
KR102314803B1 (en) * 2020-12-08 2021-10-21 한화시스템 주식회사 Unmanned surface vehicle equipped with operation control function according sea conditions and weather information

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100374777B1 (en) * 1999-12-20 2003-03-04 한국해양연구원 Navigation System
KR100568614B1 (en) 2003-12-30 2006-04-07 삼성중공업 주식회사 Optimum ship navigation system and method thereof
KR100818531B1 (en) * 2006-07-12 2008-04-02 한국해양연구원 Offering Method of Navigation Risk of Ship and System Thereof
KR101545628B1 (en) * 2013-10-25 2015-08-19 이마린 주식회사 Economic optimum operating support system of the ship

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100374777B1 (en) * 1999-12-20 2003-03-04 한국해양연구원 Navigation System
KR100568614B1 (en) 2003-12-30 2006-04-07 삼성중공업 주식회사 Optimum ship navigation system and method thereof
KR100818531B1 (en) * 2006-07-12 2008-04-02 한국해양연구원 Offering Method of Navigation Risk of Ship and System Thereof
KR101545628B1 (en) * 2013-10-25 2015-08-19 이마린 주식회사 Economic optimum operating support system of the ship

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR102269676B1 (en) 2020-10-14 2021-06-25 제모스 주식회사 Device and method for Auto vessel collision prevention
KR102335358B1 (en) 2021-04-22 2021-12-06 주식회사 산엠티 System of displaying next generation electronic navigation chart with risk notification function

Also Published As

Publication number Publication date
KR20170090138A (en) 2017-08-07

Similar Documents

Publication Publication Date Title
KR101823030B1 (en) System for avoiding risk environments of ship and method for avoiding using the same
US20210035452A1 (en) Determining a virtual representation of at least part of an environment
US10037701B2 (en) Watercraft navigation safety system
US10431099B2 (en) Collision avoidance systems and methods
US11307589B2 (en) Vessel navigation system and navigation method thereof
US20210206460A1 (en) Navigation scene analysis systems and methods
Larson et al. Advances in autonomous obstacle avoidance for unmanned surface vehicles
KR102007849B1 (en) System and method for supporting ship entering and leaving port using 3d lidar mounted on unmanned aerial vehicle
KR101764600B1 (en) Uav-guided ship cruise method and system
CN114371721B (en) Unmanned aerial vehicle system, marine vessel control system and method for controlling a marine vessel navigation system
Johansen et al. Unmanned aerial surveillance system for hazard collision avoidance in autonomous shipping
CN108227739B (en) Close-range obstacle avoidance method of underwater automatic driving equipment and underwater automatic driving equipment
CN110727282B (en) AUV docking method and device and underwater docking system
KR20170088124A (en) Communication system of unmanned ship and communication method using the same
US20230169872A1 (en) System and method for multi-image-based vessel proximity situation recognition support
Zhuang et al. Navigating high‐speed unmanned surface vehicles: System approach and validations
CA3051692C (en) Marine electronic device for generating a route based on water depth
CN105352512A (en) Navigation and positioning terminal system for ships
KR102617981B1 (en) Collision avoidance system for autonomous ships
Kim et al. Field experiment of autonomous ship navigation in canal and surrounding nearshore environments
JP6946865B2 (en) Navigation control device and navigation control method
KR20160049352A (en) System for Performing Emergent mission by Unmanned Surface Vessel
KR102328275B1 (en) Bridge system for unmanned vessel and control method thereof
TWI670470B (en) Marine unmanned ship navigation channel correction system and method
CN111897342A (en) Automatic berthing and departing system and method for modern ship

Legal Events

Date Code Title Description
A201 Request for examination
E902 Notification of reason for refusal
E701 Decision to grant or registration of patent right
GRNT Written decision to grant