KR102007196B1 - Method and apparatus for searching arctic optimal route using multi overlap lattice technique - Google Patents

Abstract

The arctic optimal route search apparatus according to an embodiment of the present invention comprises a first communication unit for receiving information about the ship's origin and destination; A second communication unit for receiving information regarding a flight factor related to the operation of the ship; A storage unit for storing a map of the area in which the ship operates; A grid data generation unit for generating grid data for cells constituting the grid based on the navigation factors by dividing the map into grids; And a route determination unit for determining a route of a corresponding vessel based on grid data of a cell group clustered into a starting point, a destination, and a predetermined number of cells of the vessel.

Description

Arctic Optimal Path Searching Method and Apparatus using Multiple Overlapping Grid Method {METHOD AND APPARATUS FOR SEARCHING ARCTIC OPTIMAL ROUTE USING MULTI OVERLAP LATTICE Technology

The present invention relates to a route reasoning apparatus and method.

For the safety and economics of ship operation, it is necessary to provide the service by deriving the optimal route. In general, the optimal route is inferred by using predictive data on meteorological and marine environments to find locations with less resistance to the vessels. However, conventionally, there is a limit to deriving an optimal route in real time over a large area of ocean where a vessel operates using limited computer resources.

An embodiment of the present invention is to provide a route inference apparatus and method that can improve the operation speed without significantly reducing the accuracy of the route inference.

An apparatus for inferring a route according to an exemplary embodiment of the present invention may include a first communication unit configured to receive information regarding a ship's origin and destination; A second communication unit for receiving information regarding a flight factor related to the operation of the ship; A storage unit for storing a map of the area in which the ship operates; A grid data generation unit for generating grid data for cells constituting the grid based on the navigation factors by dividing the map into grids; And a route determination unit for determining a route of a corresponding vessel based on grid data of a cell group clustered into a starting point, a destination, and a predetermined number of cells of the vessel.

The information regarding the navigational factors includes: weather data about the weather; Marine data about the ocean; And ship data relating to the ship; It may include at least one of.

The grid data generation unit may calculate a cost representing a risk of operation within a cell with respect to the cell based on the navigation factor.

The route determining unit may group the predetermined number of cells into a single cell group to reconstruct the grid into a plurality of cell groups, and calculate a representative cost of the corresponding cell group based on the costs of the cells constituting each cell group. The route may be determined by selecting a cell group having the lowest representative cost in the map from the starting point to the destination.

The route determining unit may determine a maximum value of costs of cells constituting each cell group as a representative cost of the corresponding cell group.

The route determining unit detects a target cell in which the at least one of the navigation factor and the cost is out of a predetermined reference range in the grid, and includes a predetermined number of peripheries positioned around the target cell or the target cell in the selected cell group. When the target cell is included, the route may be determined by excluding at least one of the target cell and the neighboring target cell from the selected cell group.

The route determining unit may change the route to bypass the target cell or the neighboring target cell when the route overlaps the target cell or the neighboring target cell.

The route determining unit may select a first cell closest to a source and a second cell closest to a destination from among a plurality of cells in contact with the overlapping target cell or a neighboring target cell among the cells where the route is located in the grid, and select the selected cell. A first bypass cell and a second bypass cell bypassing the target cell or the peripheral target cell with first and second cells at both ends, and a bypass cell having a smaller number of cells among the first and second bypass cells You can change the route to pass.

The route determination unit may include: grouping a first number of cells into a single cell group with respect to a preset first zone including the detected target cell, and generating the second zone for the remaining second zones other than the first zone in the grid. More than one second number of cells may be clustered into a single cell group.

The route determining unit may determine a route passing through a starting point, a center of the selected cell group, and a destination.

The route determining unit may determine a route passing from a source, a center of a cell having the lowest cost in the selected group, and a destination.

Route inference method according to an embodiment of the present invention comprises the steps of dividing the map of the area in which the vessel operates by the grid; Generating grid data for cells constituting the grid based on a navigation factor associated with the operation of the ship; And determining a route of the corresponding ship based on grid data of a cell group clustered into a ship's origin, destination, and a predetermined number of cells.

The route inference method according to the embodiment of the present invention may be implemented as a program to be executed by a computer and recorded in a computer-readable recording medium.

According to an embodiment of the present invention, it is possible to provide a reliable real-time optimal route service by improving the operation speed without significantly lowering the accuracy of route inference.

1 is an exemplary diagram of a route providing system including a route reasoning apparatus according to an embodiment of the present invention.
2 is an exemplary block diagram of a route reasoning apparatus according to an embodiment of the present invention.
3 is an exemplary diagram showing a grid separated map according to an embodiment of the present invention.
4 is an exemplary diagram illustrating grid data generated according to an embodiment of the present invention.
FIG. 5 is an exemplary diagram for describing a process of reconfiguring a grid by clustering a plurality of cells into a single cell group according to an embodiment of the present invention.
FIG. 6 is an exemplary diagram for describing a process of selecting a cell group from a starting point to a destination to determine a route according to an embodiment of the present invention.
7 is an exemplary diagram for describing a process of determining a route based on a departure point, a destination, and a selected cell group according to an embodiment of the present invention.
8 is an exemplary diagram for describing a process of detecting a target cell and correcting a path according to the target cell according to an embodiment of the present invention.
FIG. 9 is an exemplary diagram illustrating a grid in which cells are clustered in different numbers according to another embodiment of the present invention.
10 is an exemplary flowchart of a route inference method according to an embodiment of the present invention.

Other advantages and features of the present invention, and a method of achieving them will be apparent with reference to the embodiments described below in detail with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but may be implemented in various forms, and only the present embodiments are intended to complete the disclosure of the present invention, and the general knowledge in the art to which the present invention pertains. It is provided to fully convey the scope of the invention to those skilled in the art, and the present invention is defined only by the scope of the claims.

If not defined, all terms used herein (including technical or scientific terms) have the same meaning as commonly accepted by universal techniques in the prior art to which this invention belongs. Terms defined by general dictionaries may be interpreted as having the same meaning as in the related description and / or text of the present application, and are not conceptualized or overly formal, even if not expressly defined herein. Will not.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. In the present specification, the singular form includes plural forms unless otherwise specified in the specification. As used herein, the term "comprises" and / or the various forms of use of this verb, for example, "comprises," "comprising," "comprising," "comprising," and the like refer to compositions, ingredients, components, The steps, operations and / or elements do not exclude the presence or addition of one or more other compositions, components, components, steps, operations and / or elements. As used herein, the term 'and / or' refers to each of the listed configurations or various combinations thereof.

On the other hand, the terms '~', '~', '~ block', '~ module', etc. used throughout the present specification may mean a unit for processing at least one function or operation. For example, it can mean a hardware component such as software, FPGA, or ASIC. However, '~', '~', '~ block', '~ module', etc. are not limited to software or hardware. '~', '~', '~', '~' May be configured to reside in an addressable storage medium or may be configured to play one or more processors.

Thus, as an example, '~', '~', '~ block', '~ module' are components such as software components, object-oriented software components, class components, and task components. And processes, functions, properties, procedures, subroutines, segments of program code, drivers, firmware, microcode, circuits, data, databases, data structures, tables, arrays, and Contains variables The components and the functions provided within '~', '~', '~', '~', ',' ~ Module 'or may be further separated into additional components and' ~ part ',' ~ group ',' ~ block ',' ~ module '.

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

1 is an exemplary diagram of a route providing system including a route reasoning apparatus 100 (or an arctic optimal route search apparatus) according to an embodiment of the present invention. Here, the route inference apparatus 100 is used in the same sense as the arctic optimal path search apparatus.

Referring to FIG. 1, the route providing system includes onboard software 10 installed in a ship, a server 20 providing information on a flight factor related to a ship's operation, and an onboard software 10 through a satellite 30. It includes a route inference apparatus 100 for inferring the route of the vessel based on the information received from the information and the information provided from the server 20.

The onboard software 10 receives a starting point and a destination from a crew member aboard a ship and transmits it to the route inference apparatus 100 through the satellite 30. The onboard software 10 may further receive an estimated time of arrival to arrive at the destination from the crew.

In addition, the onboard software 10 displays the route on the display based on the information about the route of the ship provided from the route inference apparatus 100. Furthermore, the onboard software 10 may further display the environmental information of the route on the display.

The server 20 stores information on the operation factors related to the operation of the ship and provides the route inference apparatus 100. For example, the server 20 may provide weather information such as wind speed, wind direction, wave height, and the like. In addition, the server 20 may provide information about the ocean in which the ship operates, for example, depth of water, thawing information in the case of an icy region.

In addition, the server 20 may provide information about the ship. For example, the server 20 may provide various specifications of the ship, as well as information related to the performance of the ship, such as the highest speed.

Furthermore, the server 20 may further provide information regarding the operation schedule of the ship scheduled to pass through the sea area. For example, the server 20 may have vessel X passing through XXXX.XX.XX, XX: XX to XX: XX for sea area A, and vessel Y would be YYYY.YY.YY, YY: YY to YY: YY is going to pass, the information that can confirm that the ship Z is going to pass ZZZZ.ZZ.ZZ, ZZ: ZZ to ZZ: ZZ can be stored and provided to the route inference apparatus 100.

The route inference apparatus 100 is based on information about a ship's origin and destination received from the onboard software 10 and at least one of weather data, marine data, and ship data provided from the server 20. Inferring the optimum route of the ship, and provides the optimum route to the onboard software 10 of the ship through the satellite (30).

2 is an exemplary block diagram of a route reasoning apparatus 100 according to an embodiment of the present invention.

Referring to FIG. 2, the route inference apparatus 100 includes a first communicator 110, a second communicator 120, a storage 130, a grid data generator 140, and a route determiner 150. do.

The first communication unit 110 receives information about a ship's origin and destination. As described above, information about the ship's origin and destination is transmitted from the ship's onboard software 10 via satellite 20. The first communication unit 110 transmits information regarding a starting point and a destination transmitted through satellite communication, such as latitude and longitude of the starting point and the destination, GPS coordinates, and the like, to the processing unit of the route inference apparatus 100.

The second communication unit 120 receives information about a flight factor related to the operation of the ship. As described above, information about the operating factors related to the operation of the ship is provided from the server 20. The second communication unit 120 may request and receive information on a flight factor necessary for inferring a ship route from the server 20 through a network.

According to an embodiment of the present invention, the information about the operation factor may include at least one of weather data on the weather, marine data on the ocean, and ship data on the vessel.

For example, the weather data may include various weather information of the sea area in which the ship operates, such as wind speed, wind direction, precipitation, wave height, and the like. In addition, the marine data is information related to the sea area in which the ship operates, for example, in the case of the depth or ice region, may include sea ice information such as sea ice density, sea ice distribution, sea ice thickness, sea ice moving direction, sea ice speed. In addition, the ship data may include ship performance information, such as ship specifications and maximum speed. In addition, the vessel data may include information about other vessels passing through the sea area in which the vessel operates.

The storage unit 130 stores a map of the area in which the ship operates. For example, the storage unit 130 may store the electronic chart of the sea area in which the ship operates. The storage unit 130 is a storage device for storing data, and may include, for example, an HDD or an SSD.

The grid data generation unit 140 and the route determination unit 150 are processing units that process data, and include, for example, a processor such as a CPU or a GPU.

3 is an exemplary diagram showing a grid separated map according to an embodiment of the present invention.

The grid data generation unit 140 divides the map into grids and generates grid data for cells constituting the grid based on the navigation factor.

For example, as shown in FIG. 3, the grid data generator 140 may load a map of an area including a ship's starting point and a destination from the storage 130 and form a grid in the area. have. In FIG. 3, the grid is a square cell arranged in a matrix of 9 × 12, but the size of the cell may be set differently according to an embodiment, and the size of the matrix may also be changed according to the size of the area and the size of the cell. have.

Then, the grid data generation unit 140 generates grid data for cells constituting the grid based on the navigation factor provided from the server 20.

4 is an exemplary diagram illustrating grid data generated according to an embodiment of the present invention.

According to an embodiment of the present invention, the grid data generation unit 140 may calculate a cost indicating an operation risk within a cell for the cell based on the operation factor.

For example, as shown in FIG. 4, the grid data generation unit 140 receives at least one of weather data, marine data, and ship data from the server 20 for each cell based on the data. The cost can be calculated and given. Here, the cost is a value indicating the degree of danger when the ship is operating in the cell, S is the starting point and D is the destination.

According to an embodiment of the present invention, the grid data generation unit 140 calculates a higher cost as the wind speed is higher or the height is higher and the operation risk is higher according to the weather data of the sea area corresponding to the cell, and the wind speed is slow or the wave The lower the risk of operation, the lower the cost.

In addition, the grid data generation unit 140 calculates a higher cost with a higher sea ice density and a higher operational risk according to ocean data of a sea area corresponding to a cell, and calculates a lower cost with a lower sea ice density and a lower operational risk. Can be.

In addition, the grid data generation unit 140 calculates a higher cost as the number of ships to be operated in the corresponding sea area according to the ship data of the sea area corresponding to the cell is higher, and the higher the risk of operation, the lower the number of ships and thus lower the risk of operation. The lower the cost can be calculated.

The route determination unit 150 determines a route of the corresponding vessel based on grid data of a cell group clustered into a ship's origin, destination, and a predetermined number of cells.

FIG. 5 is an exemplary diagram for describing a process of reconfiguring a grid by clustering a plurality of cells into a single cell group according to an embodiment of the present invention.

According to an embodiment of the present invention, the route determination unit 150 may reconfigure the grid into a plurality of cell groups by clustering the predetermined number of cells into a single cell group.

For example, as illustrated in FIG. 5, the route determining unit 150 clusters nine cells arranged in a 3 × 3 into a single cell group in a 9 × 12 grid to form a 3 × 4 matrix. It can be reconfigured into 12 cell groups with.

Furthermore, according to an embodiment of the present invention, the route determination unit 150 may calculate the representative cost of the cell group based on the cost of the cells constituting each cell group.

For example, referring to FIG. 5, the route determination unit 150 may calculate a representative cost of the corresponding cell group based on the costs assigned to nine cells constituting each cell group.

According to this embodiment, the route determination unit 150 may determine the maximum value of the costs of the cells constituting each cell group as the representative cost of the corresponding cell group. For example, referring to FIG. 4, a cell group corresponding to a first row and a second column has a cost of 4 cells, 4, 5, 6, 1, 7, 1, 5, 3, and 2, so that the cell group of the corresponding cell group The representative cost C ₂ is 7, which is the maximum value of the cost.

According to another embodiment, the route determination unit 150 may determine the average value of the costs of the cells constituting each cell group as the representative cost of the corresponding cell group. In this case, the representative cost C ₂ of the cell groups corresponding to the first row and the second column is 3.78, which is an average value of nine cell costs.

According to another exemplary embodiment, the route determining unit 150 obtains a weighted average value of costs of cells constituting the cell group by assigning a weight higher than other cells to a cell located in the center of the cell group, thereby representing the representative cost of the corresponding cell group. Can be determined.

According to another embodiment, the route determining unit 150 obtains a weighted average value of the cost of a cell by assigning a weight to a cell constituting a cell group such that the weight of the cell becomes lower from the cell located at the center to the cell located at the edge. It can be determined as the representative cost of the cell group.

FIG. 6 is an exemplary diagram for describing a process of selecting a cell group from a starting point to a destination to determine a route according to an embodiment of the present invention.

According to an embodiment of the present invention, the route determination unit 150 may determine a route by selecting a cell group having the lowest representative cost in the map from a starting point to a destination.

For example, referring to FIG. 6, the grid is reconstructed into 12 cell groups arranged in a matrix of 3 × 4, where the source S is located in the cell group of the first row and the first column and the destination D is the third row. And a cell group in the fourth column, the representative cost of the remaining cell groups is described in each cell group.

The route determining unit 150 starts from the cell group of the first row and the first column including the starting point, and selects a cell group having the lowest representative cost among neighboring cell groups to reach a destination while reaching the destination. Select. In the lattice of FIG. 6, the cell groups of the second row and the first column, the cell groups of the third row and the first column, the cell groups of the third row and the second column, and the cells of the second row and the third column, from S to D The group has been selected. The course of the ship is determined to pass through the selected cell group.

7 is an exemplary diagram for describing a process of determining a route based on a departure point, a destination, and a selected cell group according to an embodiment of the present invention.

According to an embodiment of the present invention, the route determination unit 150 may determine a route passing through a departure point, a center of the selected cell group, and a destination.

For example, referring to FIG. 7, the route determination unit 150 starts at the starting point S and passes through the centers P ₁ , P ₅ , P ₉ , P ₁₀ , P _7, and P ₁₂ of the selected cell group to the destination D. The line that reaches is determined by the ship's route.

The line shown as a route in FIG. 7 is a curved line, but is not limited thereto, and a curved line passing through the center of the selected cell group may also be determined as the route.

According to another embodiment of the present invention, the route determination unit 150 may determine a route passing from a starting point, a center of the cell having a low cost in the selected cell group, and a destination. That is, the route may not be defined to pass through the center of the selected cell group but may be defined to pass through the center of a cell having the lowest cost among the cells constituting the cell group.

8 is an exemplary diagram for describing a process of detecting a target cell and correcting a path according to the target cell according to an embodiment of the present invention.

According to an embodiment of the present disclosure, the route determination unit 150 may detect a target cell in the grid that at least one of the operation factor and the cost is out of a preset reference range. Then, when the route determination unit 150 includes the target cell or a predetermined number of neighbor target cells located around the target cell, the route determination unit 150 includes the target cell and the neighbor in the selected cell group. The route may be determined by excluding at least one of the target cells.

For example, referring to FIG. 8, the route determining unit 150 uses the starting point S as a starting point as shown in FIG. 7, and the centers P ₁ , P ₅ , P ₉ , P ₁₀ , P ₇ and the selected cell group. After deciding on the line passing P ₁₂ as the end point to destination D, the operating factor or cost calculated based on at least one of weather data, marine data and ship data in the grid exceeds the preset threshold. The target cell outside the reference range can be detected.

In FIG. 8, the corresponding cell is detected as the target cell T because the operating factor or the cost of the cells located in the sixth row and the sixth column exceeds a reference value. In addition, the route determination unit 150 may set the eight cells surrounding the target cell T as the peripheral target cell A to determine the target cell T and the peripheral target cell A.

Thereafter, the route determination unit 150 may determine whether the target cell T or the neighboring target cell A is included in the selected cell group as shown in FIG. 6. 6 and 8, in the cell group located in the third row and the second column, two cells correspond to the peripheral target cell A, and in the cell group located in the third row and the second column, the two cells correspond to the peripheral target cell. It corresponds to A. In this case, the route determination unit 150 may determine a route by excluding at least one of a target cell T and a neighbor target cell A from the selected cell group.

According to an embodiment of the present invention, when the route overlaps the target cell T or the neighbor target cell A, the route determination unit 150 may change the route to bypass the target cell T or the neighbor target cell A. have.

For example, the route determined as shown in FIG. 7 overlaps with the peripheral target cells O ₁ located in the seventh and sixth columns and the peripheral target cells O ₂ located in the sixth and seventh columns of FIG. 8. In this case, the route determination unit 150 may change the route to bypass the target cell T or the neighboring target cell A.

According to this embodiment, the route determining unit 150 is closest to a first cell and a destination closest to a starting point among a plurality of cells in contact with the overlapping target cell or a neighboring target cell among the cells in which the route is located in the grid. The second cell can be selected. Thereafter, the route determination unit 150 may select the first bypass cell and the second bypass cell bypassing the target cell or the neighboring target cell with the selected first and second cells at both ends. Thereafter, the route determination unit 150 may change the route so as to pass the bypass cell having a smaller number of cells among the first and second bypass cells.

For example, referring to FIG. 8, the route determining unit 150 may be a starting point among a plurality of cells in contact with the overlapping neighboring target cells O ₁ and O ₂ among cells (dotted cells) in which a route is located in a grid. The first cell Q ₁ closest to S and the second cell Q ₂ closest to the destination D can be selected.

Then, the route determining unit 150 bypasses the target cell T or the peripheral target cell A with the selected first cell Q ₁ and the second cell Q ₂ at both ends, and then the first bypass cell D ₁ and the second. Bypass cell D ₂ can be selected.

Then, the route determining unit 150 is passed by the second bypass cell D ₂ having a small number of cells than that of the second bypass cell D ₂ having a first bypass cell D ₁ and four cell having six cell Route can be changed.

Accordingly, the final passage of the ship can be changed to W ₂ of the passage 8 in the passage W ₁ of Fig.

In the above-described embodiment of the present invention, the gratings are reconfigured into cell groups of the same size. However, according to another embodiment of the present invention, the grating may be reconfigured into groups of cells of different sizes according to regions, and used for determining routes.

FIG. 9 is an exemplary diagram illustrating a grid in which cells are clustered in different numbers according to another embodiment of the present invention.

According to another embodiment of the present invention, the route determining unit 150 clusters a first number of cells into a single cell group with respect to the first predetermined area including the detected target cell T, and in the grid, For the second zone other than the first zone, a second number of cells larger than the first number may be clustered into a single cell group.

For example, referring to FIG. 9, the route determining unit 150 detects a target cell T among cells in a grid, and sets the cell group including the detected target cell T as a first zone R ₁ . For one zone R ₁ , one cell corresponding to the first number may be clustered into a single cell group. That is, in the first zone R ₁ , one cell corresponds to one cell group.

In addition, the route determining unit 150 may form a 3 × 3 matrix cell including 9 cells having a second number greater than 1, which is the first number, for the remaining second region R ₂ excluding the first region R ₁ in the lattice. Can be grouped into a single cell group.

In other words, in this embodiment, the first zone R ₁ including the target cell T determines a route based on the cost of each cell, and the second zone R ₂ not including the target cell T is the same as the above-described embodiment. The route is determined based on a representative cost of a group of cells clustered into a plurality of cells.

In FIG. 9, the cell group of the first zone R ₁ is a cell of 1 × 1 and the cell group of the second zone R ₂ is a cell matrix of 3 × 3. The size of the cell group of the zone can be set variously.

10 is an exemplary flowchart of a route inference method according to an embodiment of the present invention.

The route inference method may be executed by the route inference apparatus 100 according to the embodiment of the present invention described above.

Referring to FIG. 10, the route inference method divides the map of the area in which the ship operates into a grid (S110), and generates grid data for cells constituting the grid based on a navigation factor related to the ship's navigation. Step S120 and determining a route of the corresponding ship based on grid data of a cell group clustered into a ship's starting point, a destination, and a predetermined number of cells may be included (S130).

The route inference method according to an embodiment of the present invention may be produced as a program for execution in a computer and stored in a computer-readable recording medium. The computer readable recording medium includes all kinds of storage devices for storing data that can be read by a computer system. Examples of computer-readable recording media include ROM, RAM, CD-ROM, magnetic tape, floppy disks, optical data storage devices, and the like. In addition, the route inference method according to an embodiment of the present invention may be implemented as a computer program stored in a medium for execution in combination with a computer.

The present invention has been described above by way of examples, but the above embodiments are only intended to illustrate the spirit of the present invention and are not limited thereto. Those skilled in the art will appreciate that various modifications may be made to the embodiments described above. The scope of the invention is defined only by the interpretation of the appended claims.

10: onboard software
20: server
30: satellite
100: route inference device
110: first communication unit
120: second communication unit
130: storage unit
140: grid data generation unit
150: route determination
A: surrounding target cells
D: destination
S: Origin
T: target cell

Claims (10)

A first communication unit for receiving information about a ship's origin and destination;
A second communication unit for receiving information regarding a flight factor related to the operation of the ship;
A storage unit for storing a map of the area in which the ship operates;
A grid data generation unit for generating grid data for cells constituting the grid based on the navigation factors by dividing the map into grids; And
It includes a route determination unit for determining the route of the vessel on the basis of the grid data of the cell group clustered into the starting point, destination and a predetermined number of cells of the vessel,
The route determination unit,
Detecting a target cell in the grid that at least one of the navigation factor and the cost of cells constituting each cell group is out of a predetermined reference range,
A first cell closest to a source and a second cell closest to a destination, among a plurality of cells in which the route is located in the grid and in contact with the overlapped target cell or a predetermined number of neighboring target cells positioned around the target cell; , Select
Selecting the first bypass cell and the second bypass cell bypassing the target cell or the peripheral target cell with the selected first and second cells at both ends, and selecting the first bypass cell and the second bypass cell. Arctic Optimal Path Finder, which changes course to pass through a small number of bypass cells. The method according to claim 1,
Information on the above operating factors is:
Weather data about the weather;
Marine data about the ocean; And
Ship data about the ship;
Arctic optimum path navigation device comprising at least one of. The method according to claim 2,
The grid data generation unit:
Arctic optimum route search apparatus for calculating the cost representing the risk of operation in the cell for the cell based on the navigation factor. The method according to claim 3,
The route determination unit:
Recomposing the grid into a plurality of cell groups by clustering the predetermined number of cells into a single cell group;
A representative cost of the cell group is calculated based on the cost of the cells constituting each cell group.
Arctic optimal route search apparatus for determining the route by selecting the group of cells with the lowest representative cost in the map from the starting point to the destination. The method according to claim 4,
The route determination unit:
Arctic optimum path search apparatus for determining the maximum value of the costs of the cells constituting each cell group as the representative cost of the cell group. The method according to claim 4,
The route determination unit:
If the selected cell group includes the target cell or a predetermined number of neighbor target cells located around the target cell, the route is determined by excluding at least one of the target cell and the neighbor target cell from the selected cell group. Arctic Optimum Route Navigation Device. The method of claim 6,
The route determination unit:
And route changes to bypass the target cell or the surrounding target cell when the route overlaps the target cell or the surrounding target cell. delete The method of claim 6,
The route determination unit:
Grouping a first number of cells into a single cell group with respect to the first predetermined area including the detected target cell;
And a second number of cells larger than the first number for a second area other than the first area in the grating in a single cell group. Dividing the map of the area in which the ship operates into a grid;
Generating grid data for cells constituting the grid based on a navigation factor associated with the operation of the ship; And
Determining a ship's route based on grid data of a cell group clustered into a ship's origin, destination, and a predetermined number of cells,
Determining the route,
At least one of the navigation factor and the cost of the cells constituting each cell group in the grid detects a target cell that is out of a predetermined reference range, and overlaps the target cell or the target among cells in which a route is located in the grid; Selecting a first cell closest to a starting point and a second cell closest to a destination from among a plurality of cells in contact with a predetermined number of neighboring target cells located around the cell; Selecting a first bypass cell and a second bypass cell bypassing a target cell or the peripheral target cell, and changing a route to pass a bypass cell having a smaller number of cells among the first bypass cell and the second bypass cell; Arctic optimal path search method comprising a.

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