KR101947584B1 - Auto voyage system - Google Patents

Abstract

The present invention relates to an automatic avoiding system for a ship which senses a collision of a ship in advance and avoids the same. More specifically, the present invention includes: a location information device for identifying location information of the ship; a wireless communication device for receiving information of other ship; an alarming device for informing collision danger; and a control device controlling to receive location information of other ship through the wireless communication device and controlling to operate the alarming device when it is determined that the other ship is close based on the received location information of other ship.

Description

{AUTO VOYAGE SYSTEM}

The present invention relates to a ship automatic avoidance system, and more particularly, to a ship automatic avoidance system capable of avoiding collision between a ship, a ship, and a ship.

One of the many types of ship accidents, collision between vessels, is caused by accidents caused by the navigator.

The cause of the accident is that the performance of the ship has been rapidly developed due to the development of the manufacturing technology of the ship, but the quality of the navigator has been lowered or it has come from the situation that it can not adapt to the change of the ship. In addition, depending on the duration of the operation and the location of the operation, the sailor may be exposed to a dangerous situation in a situation where the sailor departs immediately without sufficient sleep or rest.

As the ship-related automation system gradually developed, the need for development of automatic collision avoidance becomes more and more important.

FIG. 1 illustrates a conventional automatic navigation apparatus, which includes information on a global position system fix (GGA), a dual ground / water speed (VBW), and a heading tune (HDT) To the steering apparatus unit (2); An automatic steering control unit (2) for determining the traveling direction of the ship using the ship position, speed, and bow angle information supplied from the route control system (1) and outputting steering angle information therefrom; And a rudder (3) for varying the steering angle of the ship in accordance with the steering angle information.

However, conventionally, there has been no technology for predicting the anticipated collision position based on the positional information of the charity line and the other line and automatically changing the steering angle of the charity to prevent collision, .

The present invention is directed to solving the above-mentioned problems and other problems. Another object of the present invention is to provide a system for automatically navigating a ship without hitting the ship by using the boundary boundary information of the port or the land (including the island).

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory and are not restrictive of the invention, unless further departing from the spirit and scope of the invention as defined by the appended claims. It will be possible.

According to an aspect of the present invention, there is provided a position information device for identifying position information of a ship, A wireless communication device for receiving information of another ship; An alarm device for indicating a risk of collision; And a control unit for controlling to operate the alarm device when it is determined that the other ship is close based on the received positional information of the other ship, And an automatic avoidance system for the ship.

The effect of the ship automatic avoidance system according to the present invention is as follows.

According to at least one of the embodiments of the present invention, there is an advantage that a collision between ships or a collision with a ship and land can be prevented in advance.

In addition, according to at least one embodiment of the present invention, when a ship collision is expected, there is an advantage that the danger of the ship can be minimized by switching the engine of the ship off or idle state (idle).

Further scope of applicability of the present invention will become apparent from the following detailed description. It should be understood, however, that the detailed description and specific examples, such as the preferred embodiments of the invention, are given by way of illustration only, since various changes and modifications within the spirit and scope of the invention will become apparent to those skilled in the art.

1 is a view showing a conventional automatic navigation apparatus.
FIG. 2 is a block diagram of a ship automatic avoidance system 100 according to an embodiment of the present invention.
3 is a diagram showing a conceptual diagram of a ship automatic avoidance system 100 according to an embodiment of the present invention.
4 is a diagram showing an embodiment in which the route information is shared among the ship automatic avoidance systems according to an embodiment of the present invention.
5 is a diagram showing an embodiment of a ship automatic avoidance system 100 according to an embodiment of the present invention.
FIG. 6 and FIG. 7 are diagrams showing avoiding concept diagrams of the ship automatic avoidance system 100 according to an embodiment of the present invention.
FIG. 8 is a conceptual diagram for determining whether another ship 302 is located nearby through a camera such as a CCTV according to another embodiment of the present invention.
9 is a diagram showing a control flowchart of the ship automatic avoidance system 100 according to an embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings, wherein like reference numerals are used to designate identical or similar elements, and redundant description thereof will be omitted. The suffix "module" and " part "for the components used in the following description are given or mixed in consideration of ease of specification, and do not have their own meaning or role. In the following description of the embodiments of the present invention, a detailed description of related arts will be omitted when it is determined that the gist of the embodiments disclosed herein may be blurred. It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory and are intended to provide further explanation of the invention as claimed. , ≪ / RTI > equivalents, and alternatives.

Terms including ordinals, such as first, second, etc., may be used to describe various elements, but the elements are not limited to these terms. The terms are used only for the purpose of distinguishing one component from another.

It is to be understood that when an element is referred to as being "connected" or "connected" to another element, it may be directly connected or connected to the other element, . On the other hand, when an element is referred to as being "directly connected" or "directly connected" to another element, it should be understood that there are no other elements in between.

The singular expressions include plural expressions unless the context clearly dictates otherwise.

In the present application, the terms "comprises", "having", and the like are used to specify that a feature, a number, a step, an operation, an element, a component, But do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, or combinations thereof.

Collision accidents between ships at sea are incredibly frequent (see Table 1, below). In addition, in the case of large passenger ships, the structure of life is not difficult in case of a collision. (Table 1 Ship Accident Statistics for 2013 ~ 2016)

year crash contact grounding abalone Fire / Explosion Sink Organ damage Life Thoughts Safety / Operational Inhibition Other system 2013 175 23 91 32 79 21 290 45 191 146 1093 2014 180 19 96 35 97 19 339 108 205 227 1325 2015 235 28 84 32 100 31 703 144 331 413 2101 2016 209 23 137 49 113 27 755 130 391 473 2307

Accordingly, there is a need to prevent collision between vessels in advance. Accordingly, the ship automatic avoidance system of the present invention intends to propose a method capable of predicting and avoiding a collision between ships and a collision between the ship and the land in advance.

According to another aspect of the present invention, there is provided an automatic ship avoidance system comprising: a position information device for confirming position information of a ship; A wireless communication device for receiving information of another ship; An alarm device for indicating a risk of collision; And a control unit for controlling to operate the alarm device when it is determined that the other ship is close based on the received positional information of the other ship, . ≪ / RTI >

This embodiment will be described in more detail with reference to the block diagram of FIG.

FIG. 2 is a block diagram of a ship automatic avoidance system 100 according to an embodiment of the present invention.

Referring to the drawings, a ship automatic avoidance system 100 according to an embodiment of the present invention includes a wireless communication device 110, an alarm device 111, an automatic steering device 112, a storage device 170, An automatic avoidance terminal 171 and a control device 180. [ The components shown in FIG. 2 are not essential for implementing the ship automatic avoidance system 100, so that the ship automatic avoidance system 100 described herein may have more or fewer components than those listed above Elements.

The storage device 170 stores data that supports various functions of the ship automatic avoidance system 100. [ The storage device 170 may store data, commands for operation of the ship automatic avoidance system 100.

In particular, the storage device 170 according to one embodiment of the present invention may store the outline information of land (including islands and reefs). At this time, the outline information of the land means a boundary in which the ship can not approach, and does not mean merely a boundary of the geographical terrain but a military inaccessible zone (prevention of invasion of the invasive sea area such as NLL) It may contain information about the boundaries of the port.

In addition to the operations associated with the application program, the control device 180 typically controls the overall operation of the ship automatic avoidance system 100. The control device 180 may process or process signals, data, information, etc., input or output through the above-described components, or may drive an application program stored in the storage device 170 to provide or process appropriate information or functions to the user have.

The control device 180 can control the wireless communication device 110 to receive information of other ships. If it is determined that another ship is close, the alarm device 111 may be operated to inform the danger. It may be based on the position information of other ships that it is determined that another ship is approaching at this time.

The position information device 115 is a module for acquiring the position of the ship itself or the ship automatic avoidance system 100, and a representative example thereof is a GPS (Global Positioning System) module (GPS plotter). When using GPS, it is a principle to use WGS84 of the world geodetic system (to reduce error), but not necessarily limited to, but also to use DGPS. For example, the automatic ship avoidance system 100 can utilize the GPS module to acquire the position of the ship automatic avoidance system 100 by using a signal transmitted from the GPS satellite. Optionally, the location information device 115 may substitute or additionally perform any of the other modules of the wireless communication device 110 to obtain data relating to the location of the marine automatic avoidance system 100. The location information device 115 is a module used to obtain the location (or current location) of the ship's automatic avoidance system 100 and is not limited to modules that directly calculate or obtain the location of the ship's automatic avoidance system 100 .

The location information device 115 according to an embodiment of the present invention may be provided by interlocking a GPS plotter, a radar, an AIS (Auto Identification System), and a CCTV (closed circuit television). Here, the radar may be limited to an alpha radar.

The wireless communication device 110 is capable of communicating between the ship automatic avoidance system 100 and the wireless communication system or between the ship automatic avoidance system 100 and another ship automatic avoidance system 100 or between the ship automatic avoidance system 100 and the external server Lt; RTI ID = 0.0 > wireless < / RTI > The wireless communication device 110 may also include one or more modules that connect the ship automatic avoidance system 100 to one or more networks.

The wireless communication apparatus 110 may use VHF (very high frequency) communication, UHF (ULTRA HIGH FREQUENCY) communication or WiFi communication.

Such a radio communication apparatus 110 can communicate with a ship automatic avoiding system located in another ship and can receive information of another ship. At this time, the information of another ship may include at least one of position information of another ship, direction information of another ship, and speed information of another ship.

The alarm device 111 is a device for notifying the risk of collision with other ships and / or collision with land. For example, there may be a horn towards another ship. It may also include a ship 's own alarm to alert the crew of the vessel to the danger.

The automatic steering apparatus 112 can change the direction of the ship. For example, the automatic steering apparatus 112 can control the rudder that changes the direction of the ship based on the solenoid. However, all embodiments of the present invention are not limited to this method. The automatic steering apparatus 112 may also brake the ship or convert the engine of the ship into a standby state (idle state, idle state). Here, the standby state is a state in which the engine is not turned off, but may be a state in which the gear is inserted into the neutral position N, and the state is maintained at an atmospheric rpm (round per minute).

The automatic avoidance terminal 171 may analyze the position information of the other ship and may control the automatic steering apparatus when it is determined that there is a possible collision. That is, when another ship is located nearby, the automatic steering apparatus can be controlled based on the possibility of collision with another ship.

In addition, the automatic avoidance terminal may control the automatic steering apparatus when it is judged that there is a possibility of collision with the land based on the outline information.

At this time, the automatic avoidance terminal may use the outline information of the land stored in the storage device. And the outline information may include outline information of ports, land, islands, and reefs.

3 is a diagram showing a conceptual diagram of a ship automatic avoidance system 100 according to an embodiment of the present invention.

The ship 301 and the other ship 302 for explaining the present invention are shown and the ship 301 and the other ship 302 can exchange information with each other using the wireless communication device 111 have. Particularly, the present invention may include position information 304 indicating the latitude and longitude information of the ship 301 and the other ship 302.

Both the present ship 301 and the other ship 302 may be equipped with the above-described ship automatic avoidance system 100. That is, the first ship automatic avoidance system 100-1 and the second ship automatic avoidance system 100-2 may be provided on the present vessel 301 and the other ships 302, respectively.

In other words, the ship automatic avoidance system 100 according to an embodiment of the present invention is installed not only in any one ship but also in all the ships which are to be prevented from collision, exchanging data with each other, Is automatically changed.

Each of the vessels 301 and 302 can share vessel information with respect to each other. At this time, the ship information may include position information such as latitude / longitude indicating the position of the ship, direction information indicating the direction to which the ship is directed, and speed information indicating the speed at which the ship is navigating.

Further, in one embodiment of the present invention, it is proposed to further include destination information indicating a position of the ship to travel within a predetermined time and / or a total route of the ship.

An embodiment in which the entire course of the ship is exchanged will be described with reference to Fig.

4 is a diagram showing an embodiment in which the route information is shared among the ship automatic avoidance systems according to an embodiment of the present invention.

As described above, the ship automatic avoidance system 100 according to an embodiment of the present invention can exchange information by attempting to communicate with each other when another ship approaches the vicinity. At this time, the information exchanged in the present embodiment is the path information 401, 402.

As shown in the figure, the ship 301 is moving along the first route information 401 and the other ship 302 is moving along the second route information 402. At this time, the first and second path information 401 and 402 can be exchanged.

If there are no intersecting points on the path information to be exchanged, the vessels 301 and 302 will not collide with each other. However, if there are points 403 intersecting each other between the path information, they may collide with each other or may not collide with each other. That is, if they cross the intersection point 403 at different times, they will not collide, and if they pass the point at the same time, they will collide.

Accordingly, in one embodiment of the present invention, it is determined whether the intersection points 403 of the first and second paths exist first, and if not, the additional operations between the systems may not be performed immediately. However, if the intersection point 403 exists, it is possible to determine the actual collision probability by combining the position information, the speed information, and the moving direction information of the ship.

The automatic avoidance terminal may control the automatic steering apparatus based on the position information of the received other ship, the moving direction of the other ship, and the speed information.

If it is determined that there is a possibility of collision, the control device 180 outputs an alarm through the alarm device 111 or can modify the navigation path of the ship through the automatic steering device 112 and the automatic avoidance terminal 171 There will be.

On the other hand, exchange of route information between ships corresponds to important secret information of the ship concerned. Therefore, sharing the entire path may be information that other people can exploit in some cases.

Therefore, in one embodiment of the present invention, only the nearby ships need to share only the destination location information to be arrived within a predetermined time. This embodiment will be described with reference to Fig.

5 is a diagram showing an embodiment of a ship automatic avoidance system 100 according to an embodiment of the present invention.

As described with reference to FIG. 4, more accurate prediction may be possible when the first and second path information 401 and 402 are shared. However, since it may not be appropriate to share all such route information, an embodiment of the present invention proposes sharing only destination position information (hereinafter referred to as " destination position information " .

As shown in FIG. 5, the ship 301 may attempt to arrive at the first destination 501 within a predetermined time. For example, it may arrive at the first destination 501 within ten minutes based on the current navigation speed on the predetermined first route information 401. Then, the first ship automatic avoidance system 100-1 calculates the first destination 501 on the first route information 401 and the first destination position information of the calculated first destination 501 To the second ship automatic avoidance system 100-2. Likewise, the second ship automatic avoidance system 100-2 may transmit the second destination position information about the second destination 502 calculated by the second ship automatic avoidance system 100-2 to the first ship automatic avoidance system 100-1.

The first ship automatic avoidance system 100-1 will be able to guess / predict the second route information 402 based on the received second destination location information. The second ship automatic avoidance system 100-2 may predict the first route information 401 based on the first destination position information.

In predicting the first and second route information 401 and 402, route information can be predicted not only by considering only the destination position information but also considering the position information, speed information, and moving direction information of the ship .

Based on the mutually predicted path information, it is possible to review the possibility of collision with the ship itself and output a collision alarm or change the path according to the result of the review. That is, the control device 180 may be operated in the same manner as described above with reference to FIG.

Hereinafter, the concept of avoiding collision will be described with reference to FIG.

FIG. 6 and FIG. 7 are diagrams showing avoiding concept diagrams of the ship automatic avoidance system 100 according to an embodiment of the present invention.

The ship automatic avoidance system 100 in FIG. 6 assumes that there is a possibility that two ships collide, and an example of changing the route will be described.

The ship 301 and the other ship 302 may avoid a collision through a change of the time passing the collision point (FIG. 6), a change of the movement path (FIG. 7), or a combination thereof.

When the ship 301 judges that there is a possibility of collision as described above, the control device 180 can control the speed of the ship so that the expected collision point 403 passes faster. Conversely, the control device 180 of the other ship 302 can lower the speed or stop the engine to pass the expected collision point 403 later.

That is, the control device 180 may switch the engine to a standby state (gear neutral state, idle state) or operate a separate braking device (brake) to rapidly reduce the speed of the ship.

6, the vessel 301 first passes the predicted collision point 403, and then the other vessel 302 is allowed to pass through the expected collision point 403.

On the other hand, in order to operate in this way, mutual negotiations should be made between the first and second marine automatic avoidance systems 100-1 and 100-2. If both speed up or both speed down, you can not avoid collisions.

Referring to Fig. 7, the second ship automatic avoidance system 100-2 can change the route of the ship 302 of the ship itself to the third route information 402-1 and avoid collision. Likewise, there may be a possibility of collision again when both vessels 301 and 302 change paths, so that through negotiation, only one of the two vessels can control the path change.

In the meantime, although FIGS. 6 and 7 illustrate embodiments in which the speed of the ship is controlled or the path of the ship is controlled, a collision can be prevented by combining the two methods.

Meanwhile, in the above-described embodiment, it has been described that the above-described operation is performed when it is detected that the other ships 302 are close to each other. In FIG. 8, an image photographed through a camera is analyzed to replace the above operation.

There is no need to worry about conflicts between ships located far from the sea. Accordingly, in the present invention, it is first checked whether or not the other ship 302 is located nearby, and then the operation in the above-described embodiment is performed only when the other ship 302 is nearby.

FIG. 8 is a conceptual diagram for determining whether another ship 302 is located nearby through a camera such as a CCTV according to another embodiment of the present invention.

As shown in the drawing, the ship 301 can shoot images in various directions through a camera such as CCTV. It is possible to analyze whether or not the other ship 302 is nearby.

9 is a diagram showing a control flowchart of the ship automatic avoidance system 100 according to an embodiment of the present invention.

In step S901, the control device 180 determines whether the other ship 302 has approached the vicinity of the ship 301. As described above with reference to FIG. 2, the determination may be made based on the distance from the ship 301 to the user's own location information received from the other ship 302. However, as shown in FIG. 8, So as to determine whether the other ship 302 is located nearby.

In step S902, the control device 180 can confirm the identification information of other ships. At this time, identification information with other vessels 302 can be exchanged using an AIS (Auto Identification System).

AIS refers to equipment that automatically provides information, including specification, type, location, crew, navigation, and other safety-related information. If you send your information through GPS, all ships equipped with AIS can receive this information and use it as basic data for safe navigation.

In step S903, the control device 180 performs communication with another ship through the wireless communication device 110. [ And receives information of another ship from another ship 302 and transmits the information of the ship to another ship 302.

In step S904, the control device 180 can predict the path of another ship based on the information of the other ship. Alternatively, route information may be directly received from another ship 302 and used.

In step S905, the control device 180 negotiates with another ship 302 via the wireless communication device 110. [ The progress of the negotiations may include deciding who will speed up or who will change the course. In making such a determination, it may be determined based on the type of ship. For example, a large ship may not be able to stop easily due to acceleration, and it needs a lot of energy when starting again. Therefore, reducing the speed of a small ship is inevitably effective overall.

In other words, the priority of the castle for negotiation will be taken by the larger vessel. In addition, ships related to the public interest, such as military vessels or marine vessels, may take priority.

In step S906, the control device 180 can control the operation of the ship in accordance with the negotiation result. For example, in a small-sized vessel, the priority is low according to the result of the negotiation, so the engine may be stopped or put into a standby state to pause the running or to slow the speed to prevent the collision.

To this end, the control device 180 according to an embodiment of the present invention receives an image photographed through a camera and analyzes the image to determine whether another ship 302 is located nearby.

Although the preferred embodiments of the present invention have been described for illustrative purposes, those skilled in the art will appreciate that various modifications, additions and substitutions are possible, without departing from the scope and spirit of the invention as disclosed in the accompanying claims. And the scope of technical thought is not limited / limited by the description with reference to drawings or drawings. It will also be appreciated by those skilled in the art that the concepts and embodiments of the invention set forth herein may be used as a basis for modifying or designing other structures for carrying out the same purposes of the present invention It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the present invention as defined by the appended claims and their equivalents. And various changes, substitutions, and alterations can be made without departing from the scope of the invention.

Claims (5)

A position information device for confirming position information of the ship;
A wireless communication device for receiving information of another ship;
A storage device for storing the outline information of the land including the port, the land, the island and the reef;
An alarm device for indicating a risk of collision;
An automatic steering device capable of changing the direction of the ship;
The control unit controls the wireless communication device to receive the position information of the other ship, the speed information of the other ship, and the destination information reaching within a predetermined time,
A control device for controlling the alarm device to operate when it is determined that the other ship is close to the other based on the received positional information of the other ship; And
And an automatic avoidance terminal for analyzing the position information of the other ships and controlling the automatic steering apparatus when it is determined that there is a possibility of a collision,
Wherein the automatic avoidance terminal further controls the automatic steering device when there is a possibility of collision with the land based on the outline information stored in the storage device,
The automatic steering apparatus further controls a brake for braking the ship or switches the engine to a neutral (N) state,
The control device includes:
Predicting a path of the other ship based on the destination information, the position information, and the speed information received from the other ship,
Determines whether there is a point that crosses its path,
Determining the possibility of collision with the other ship based on the destination information, the location information, and the speed information when it is determined that there is an intersecting point,
If it is determined that the collision is likely to occur, negotiation for speed control and path change with the other ship is performed,
The negotiation is a negotiation for determining a ship to perform speed control and route change among the two vessels. The negotiation is determined according to the size of the two ships and the type of the ship, Are determined as ships other than military ships and marine vessels,
Characterized in that the control device controls the automatic avoidance terminal to lower the speed based on the result of the negotiation and to switch the route,
Ship automatic avoidance system. delete The method according to claim 1,
The automatic steering apparatus includes:
And controls the rudder that varies the direction of the ship based on the solenoid.
Ship automatic avoidance system. delete The method according to claim 1,
The location information device comprises:
A GPS plotter, a radar, an AIS (Auto Identification System) and a CCTV (closed circuit television)
Ship automatic avoidance system.

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