KR102325827B1 - Method and Apparatus for Searching Sufferer on the Sea - Google Patents

Abstract

The present invention relates to a method and an apparatus for searching the location of a shipwrecked person, and by using a beacon signal transmitted by a wearable device possessed by a shipwreck to determine the location of the shipwreck, so that a lifejacket or a life tube is not worn by the shipper Even in this case, quick rescue is possible by locating the victim and moving the search device.
In addition, by using a short-distance communication device (eg, BLE, etc.) that transmits a beacon signal, rather than the existing GPS device, it is possible to implement a distress search method with low power, so there is no need to check the battery frequently, and the device It can also reduce the risk of malfunction, which can bring stability to the rescue of the survivors.

Description

Method and Apparatus for Searching Sufferer on the Sea

The present invention relates to a method and an apparatus for searching the location of a shipwrecked person, and more particularly, when a person on a ship falls under the ship and is lost in the sea, the beacon signal of the beacon device carried by the shipwrecked person in the sea It relates to a method and apparatus for searching for the location of a shipwrecked person using the .

The content described in this section merely provides background information for the present embodiment and does not constitute the prior art.

When a crew member or customer on board a ship falls into the sea due to a disaster or a fall, ship safety solutions such as various rescue equipment and rescue methods are being researched to quickly rescue those who have fallen into the sea.

However, the existing ship safety solution is implemented in a way to recognize the position of the survivor by installing a sensor or communication equipment on the life jacket or life tube. There were many difficulties in the search.

In addition, even in the case of recognizing the position of a survivor using a life jacket or life tube, a GPS (Global Positioning System) is mounted on the life jacket or life tube and the position of the survivor is confirmed through the GPS signal. Consumption is relatively large, and there is an inconvenience in that it is necessary to check the remaining battery level from time to time and to check whether a lifesaving device including a GPS device is in operation.

Korean Patent Laid-Open Patent No. 10-2015-0069571 (Title: Drone-assisted rescue method, June 23, 2015)

The present invention has been proposed to satisfy the above needs, and by using the signal strength of a beacon signal transmitted from a wearable beacon device possessed by a person in distress, the approximate location of the person in distress is identified, and A method and apparatus for searching the location of a shipwreck that can move a search device, such as a mounted drone, to the identified approximate location, allow the search device to determine the exact location of a person in distress using a thermal sensor, and rescue the person in distress want to

However, the object of the present invention is not limited to the above object, and other objects not mentioned will be clearly understood from the following description.

A control server according to the present invention for achieving the above object includes at least one beacon information collecting device for collecting beacon information of a beacon signal received from the bottom of a ship, and a communication module for transmitting and receiving data to and from a search device, and the at least one Upon receiving the one or more beacon information collected by the beacon information collecting device of If present, it may include a control module for determining that a person in distress corresponding to the beacon information having a signal strength value greater than or equal to the threshold is in distress.

At this time, when it is determined that the person in distress is in distress, the control module may control to transmit notification information indicating that a distress situation has occurred to the ship, and the control module may control the signal strength value to be the largest among the at least one beacon information. Extract the location of the area where the beacon information is collected, and control the search apparatus to move the search apparatus to the extracted location, and the control module may control the search apparatus to move the search apparatus to the extracted location. can be controlled to move to

A search apparatus according to the present invention for achieving the above object includes a communication module for transmitting and receiving data with a control server, a heat sensor module for detecting the body temperature of a survivor, a position sensor module for detecting the position of the search apparatus, and the control Upon receiving the location information of a specific area from the server, it moves to a location corresponding to the location information, moves along a specific path from the moved location, detects the body temperature of the victim through the heat sensor module, and and a control module for controlling to transmit the location of the search device detected by the location sensor module to the control server.

In a distress search method according to an embodiment of the present invention for achieving the above object, at least one beacon information collected by at least one beacon information collecting device in which the control server collects beacon information of a beacon signal received from the bottom of a ship receiving, if at least one beacon information having a signal strength value greater than or equal to a preset threshold among the at least one piece of beacon information exists, determining that a distressed person corresponding to the beacon information having a signal strength value greater than or equal to the threshold is in distress , when it is determined that the person in distress is in distress, moving the search device to the location of the area in which the beacon information having the largest signal strength value among the at least one beacon information is collected, and the search apparatus moves to the location of the area When moving, the search device moves along a specific path, searching for the victim through a thermal sensor, and transmitting the location information of the search device to the control server while searching for the person in distress. have.

According to the present invention, by using a beacon signal transmitted by a wearable device possessed by a person in distress, the location of the person in distress is identified, and the location of the person in distress is identified even when the person is not wearing a life jacket or life tube, and a search apparatus By moving the , rapid rescue is possible.

In addition, by using a short-distance communication device (eg, BLE, etc.) that transmits a beacon signal, rather than the existing GPS device, it is possible to implement a distress search method with low power, so there is no need to check the battery frequently, and the device It can also reduce the risk of malfunctioning, which can bring stability to the rescue of the survivors.

1A to 1B are diagrams for explaining a distress search system according to a first embodiment of the present invention.
2A to 2B are diagrams for explaining a distress search system according to a second embodiment of the present invention.
3 is a block diagram showing the configuration of a beacon information collecting apparatus according to the present invention.
4 is a flowchart illustrating an operation process of an apparatus for collecting beacon information according to an embodiment of the present invention.
5 is a block diagram showing the configuration of a search apparatus according to the present invention.
6 is a flowchart for explaining an operation process of a search apparatus according to an embodiment of the present invention.

In order to clarify the characteristics and advantages of the problem solving means of the present invention, the present invention will be described in more detail with reference to specific embodiments of the present invention shown in the accompanying drawings.

However, detailed descriptions of well-known functions or configurations that may obscure the gist of the present invention in the following description and accompanying drawings will be omitted. Also, it should be noted that throughout the drawings, the same components are denoted by the same reference numerals as much as possible.

The terms or words used in the following description and drawings should not be construed as being limited to conventional or dictionary meanings, and the inventor may appropriately define the concept of terms for describing his invention in the best way. It should be interpreted as meaning and concept consistent with the technical idea of the present invention based on the principle that there is. Therefore, the embodiments described in this specification and the configurations shown in the drawings are only the most preferred embodiment of the present invention, and do not represent all the technical ideas of the present invention, so at the time of the present application, various It should be understood that there may be equivalents and variations.

In addition, embodiments within the scope of the present invention include computer-readable media having or carrying computer-executable instructions or data structures stored in the computer-readable media. Such computer readable media can be any available media that can be accessed by a general purpose or special purpose computer system. By way of example, such computer-readable media may be in the form of RAM, ROM, EPROM, CD-ROM or other optical disk storage, magnetic disk storage or other magnetic storage, or computer-executable instructions, computer-readable instructions, or data structures. It may include, but is not limited to, a physical storage medium such as any other medium that can be used to store or convey any program code means in .

In addition, the distress location search service using a beacon technology according to the present invention will be described based on a BLE (Bluetooth Low Energy) data communication technology.

While NFC is available only within a limited range of several tens of cm, the Bluetooth method can operate in a range of several tens of meters, and thus the field of application is much wider. In particular, the Bluetooth method does not need to tag a reader by bringing it close to the reader like NFC, and it is possible to transmit data just by passing a place where a beacon device is installed.

However, in the present invention, the location inquiry service is not necessarily limited to BLE (Bluetooth Low Energy) or Bluetooth (Bluetooth), Zigbee, UWB (Ultra-WideBand), ANT, Wi-fi, etc., PAN (Personal Area Network) method Various short-distance communication technologies of

Now, with reference to the drawings, a method for searching the location of a shipwreck according to an embodiment of the present invention will be described in detail.

1A to 1B are diagrams showing the configuration of a system for providing a method for searching a survivor's location according to a first embodiment of the present invention.

First, referring to FIG. 1A , a system for providing a method for searching a position of a distressed person according to the first embodiment is a beacon device 100 , a plurality of antennas 200 , a beacon information collection device 300 , and a control server 400 . and a search device 500 .

Then, each component will be schematically described with reference to FIG. 1A.

First, the beacon device 100 is a device for periodically transmitting a beacon signal for identifying the location of a person in distress.

The beacon signal transmitted by the beacon device 100 may include identification information of a person in distress possessing the beacon device 100, and the control server 400 or the beacon information collection device 300 uses the identification information. , it is possible to obtain the personal information of the person in distress.

The plurality of antennas 200 receive a beacon signal transmitted by the beacon device 100 and transmit beacon information of the beacon signal to the beacon information collecting device 300 .

In this case, the plurality of antennas 200 and the beacon information collecting device 300 may be connected through a wired/wireless communication network, and in the case of using a wired communication network, may be connected through a cable line.

The plurality of antennas 200 are installed at the lower end of the ship, and by installing them as close as possible to the sea surface, it is to more accurately grasp the position of the person in distress.

In addition, by installing the plurality of antennas 200 at the lower end of the ship, the beacon signal of the beacon device 100 that is normally on the ship is weakly received, and this is to distinguish between a person in distress and a person normally on board the ship.

In order to more clearly distinguish a person in a ship and a person in distress, the plurality of antennas 200 may use a directional antenna.

By enabling the plurality of antennas 200 to easily detect a beacon signal coming from the sea side using a directional antenna, it is possible to quickly determine whether a person in distress is in distress.

The beacon information collection device 300 collects beacon signals received by the plurality of antennas 200 , and serves to transmit beacon information included in the beacon signals to the control server 400 .

At this time, the beacon information collection device 300 and the control server 400 are preferably connected through a wireless communication network, WLAN (Wireless LAN), Wi-Fi (Wi-Fi), Wibro (Wibro), Wimax (Wimax), HSDPA A wireless communication method such as (High Speed Downlink Packet Access), Long Term Evolution (LTE), or Long Term Evolution Advanced (LTE-A) may be used.

The control server 400 is a device for determining whether the bearer of the beacon device 100 is in distress, and controlling the alarm and search device 500 to rescue the person in distress according to the determination result.

The control server 400 is based on the beacon signal strength value included in the one or more beacon information collected by the beacon information collection device 300, if there is beacon information having a signal strength value greater than or equal to a preset threshold, It is determined that the person in distress carrying the corresponding beacon device 100 is in distress.

And when it is determined that the person in distress is in distress, notification information notifying that a distress situation has occurred in the ship is transmitted, and the location of the antenna 200 from which beacon information having a signal strength value greater than or equal to a threshold value is collected is extracted and returned to the extracted location. The search device 500 is controlled to move.

At this time, if there are two or more survivors, or two or more search devices 500 are provided, and there is a plurality of beacon information having a signal strength value greater than or equal to the threshold, a plurality of beacon information having a signal strength value greater than or equal to the threshold is collected. By extracting the location of the antenna 200, it is possible to control the plurality of search devices 500 to move to the extracted location. It is also possible to extract the location of one antenna from which beacon information having the largest signal strength value is extracted from among the information, and control the search apparatus 500 to move to the extracted location.

In this case, whether there is one or a plurality of survivors may be determined by the number of identification information of the collected beacon information. That is, if the identification information of the collected beacon information is all the same, it can be determined that there is only one person in distress, and when two or more different identification information is found, it can be determined that the number of people in distress is equal to the number of different identification information.

On the other hand, when it is determined that the rescue operation of the person in distress is completed, the control server 400 may control the search apparatus 500 to return to the ship.

At this time, when the rescue operation completion signal is received by the control server 400, it may be determined that the rescue operation has been completed, and if beacon information having a signal strength value greater than or equal to the threshold is no longer transmitted from the beacon information collection device 300, It may be judged that the rescue operation has been completed.

The search device 500 is a device for determining the exact location of a person in distress after moving to a specific location under the control of the control server 400 .

The search device 500 can generally use a drone, but it is not necessarily a drone, and any device capable of installing a sensor and equipment for rescue of a survivor can be used as the search device 500 . .

When the search device 500 receives the location information of the specific antenna 200 from the control server 400, it moves to a location corresponding to the location information, moves along a specific path from the moved location, and searches for a distressed person. .

At this time, the specific route may be a route moving in the reverse direction of the ship route based on the route information of the corresponding ship. In general, since the route of the ship is designated as constant, it is better to search for the distressed along the reverse direction of the ship route from the designated location. Efficient search is possible.

In addition, the search apparatus 500 uses a thermal sensor to search for the distressed, and if the distressed person is searched by using the thermal sensor to detect the body temperature of the distressed person, the probability of identifying the exact location of the distressed person increases.

In addition, the search apparatus 500 is equipped with a location sensor, for example, a GPS sensor. Through this, the control server 400 can determine the location of the search apparatus 500 in real time, and the search apparatus 500 is When the location is found and the victim stays at the location of the victim, the location of the search apparatus 500 can be determined as the location of the person in distress.

When the search apparatus 500 finds a person in distress, the search apparatus 500 provides life-saving equipment to the person in distress, thereby ensuring the safety of the person in distress.

Thereafter, upon receiving a rescue operation completion signal from the control server 400 , the search apparatus 500 returns to the original position of the vessel.

Figure 1b shows a vessel installation configuration of the plurality of antennas 200 and the beacon information collecting device 300 according to the first embodiment of the present invention. When the plurality of antennas 200 are installed around the lower end of the vessel, beacon information is collected The device 300 is installed in any one of the ships, and collects beacon information from a plurality of antennas 200 .

In this case, the plurality of antennas 200 may be connected to the beacon information collecting device 300 through a cable line.

FIG. 2A shows a vessel installation configuration of the antenna 200 and the beacon information collecting device 300 according to the second embodiment of the present invention. According to the second embodiment, the antenna 200 is the beacon information collecting device 300 . It is included in, and even in this case, the antenna 200 uses a directional antenna.

That is, a plurality of beacon information collecting devices 300 including a plurality of antennas 200 are installed around the lower end of the ship, and as shown in FIG. 2B , each of the plurality of beacon information collecting devices 300 installed around the lower end of the ship is It is connected to the control server 400 through wired/wireless communication and transmits one or more collected beacon information to the control server 400 .

The first embodiment and the second embodiment differ only in the number and arrangement of the beacon information collecting device 300 and the connection structure of the beacon information collecting device 300 and the antenna 200, and the control server 400 and the The overall operation process of the search apparatus 500 is the same.

Therefore, in the following description, the first and second embodiments will be described inclusively, and a separate description will be added only in the parts where there is a difference.

3 is a block diagram for explaining the configuration of the control server 400 according to the present invention.

Referring to FIG. 3 , the control server 400 may include a storage module 410 , a communication module 430 , and a control module 450 .

The storage module 410 may store beacon information of at least one beacon device 100 .

In particular, the storage module 410 matches and stores identification information included in the beacon information of each beacon device 100 with the personal information of a person who has the beacon device 100 .

The personal information stored by matching in this way can help identify who the person in distress is.

That is, when it is determined that a person in distress has occurred, the personal information of a person possessing the beacon device 100 corresponding to the beacon information is extracted based on the identification information of the received beacon information, and it is determined who was in distress. it can be

The communication module 430 is for transmitting and receiving data to and from the search apparatus 500 and the beacon information collection apparatus 300 .

Through the communication module 430 , the control server 400 may receive beacon information from the beacon information collection device 300 and transmit a signal for controlling the movement of the search device 500 .

The control module 450 is a device that controls the overall operation process of the control server 400 according to the present invention, and determines whether a person in distress has occurred, extracts the location where the person in distress has occurred, and the search device 500 controls the area in question. It controls to move to the , and notifies that a distress situation has occurred.

A detailed operation process of the control server 400 controlled by the control module 450 will be described with reference to FIG. 4 .

Referring to FIG. 4 , the control server 400 receives one or more beacon information collected by at least one beacon information collecting device 300 . At this time, according to the first embodiment of the present invention, the beacon information collecting device 300 collects beacon information included in the beacon signals received by the plurality of antennas 200 installed around the lower end of the ship, and the control server 400 After receiving this, according to the second embodiment of the present invention, the control server 400 will receive the beacon information included in the beacon signal received by each of the plurality of beacon information collecting devices 300 installed around the lower end of the ship.

When the control server 400 receives at least one piece of beacon information, it is determined whether there is at least one beacon information having a signal strength value of the received beacon information equal to or greater than a preset threshold (S101), and beacon information having a signal strength value greater than or equal to the threshold value If there is no, it continuously receives beacon information, and if there is one or more beacon information having a signal strength value greater than or equal to the threshold, it is determined that the distressed person corresponding to the received beacon information is in distress (S103), and the ship is in distress It transmits notification information indicating that it has occurred (S105).

Thereafter, a location of a region in which beacon information having the largest signal strength value among beacon information having a signal strength value greater than or equal to the threshold is collected ( S107 ).

According to the first embodiment, the position of the antenna 200 that has received the beacon signal including beacon information having the largest signal strength value can be extracted, and according to the second embodiment, the largest signal strength value It is possible to extract the location of the beacon information collecting apparatus 300 that has received the beacon signal including the beacon information having

On the other hand, when two or more beacon information having a signal strength value greater than or equal to the threshold have different identification information, that is, when it is determined that two or more victims have occurred, by comparing the signal strength values for each identification information, the most By extracting the location of each area where beacon information having a large signal strength value is collected, the location of two or more victims can be identified.

When the location of the area closest to the distressed person is extracted based on the signal strength value, a movement command signal is transmitted to the search apparatus 500 so that the search apparatus 500 moves to the extracted location (S109), and the search apparatus 500 By continuously receiving location information of the search apparatus 500 through a GPS signal transmitted from

When the search device 500 finds a person in distress and stays in an area within a certain range for more than a certain period of time, it is determined that there is a person in distress within that range, and the rescue operation is carried out, and when the rescue operation is completed (S113), the control server ( 400) transmits a rescue completion signal to the search apparatus 500 (S115), so that the search apparatus 500 returns to the ship.

If it is determined in step S113 that the rescue operation is not completed, the control server 400 continuously receives the GPS information of the search apparatus 500 to determine the current location of the person in distress.

In the above, the main configuration and operation process of the control server 400 according to the present invention have been described.

Hereinafter, the main configuration and operation process of the search apparatus 500 according to the present invention will be described.

5 is a block diagram showing the main configuration of a search apparatus 500 according to the present invention.

Referring to FIG. 5 , the search apparatus 500 may include a storage module 510 , a communication module 530 , a sensor module 550 , a movement module 570 , and a control module 590 .

The storage module 510 may store location information of a specific area received from the control server 400 .

The location information indicates a location to which the search apparatus 500 should move first.

The communication module 530 is for transmitting and receiving data to and from the control server 400 , and receives control signals such as a movement command and a return command from the control server 400 , and its own acquired through the position sensor module 551 . The location information may be transmitted to the control server 400 through the communication module 530 .

The sensor module 550 may include a position sensor module 551 and a thermal sensor module 553 . The position sensor module 551 is a device that detects and collects position information of the search device 500 , and is representative can be a GPS sensor.

The search device 500 transmits the location information of the search device 500 detected by the location sensor module 551 to the control server 400 in real time, and the control server 400 determines the location of the search device 500 . and, accordingly, it is possible to determine the location of the distressed person.

The thermal sensor module 553 is a device that detects the body temperature of a person in distress and searches for the person in distress. The heat sensor module 553 continuously detects the body temperature of the victim while the search device 500 is moving, and allows the user to determine the position of the person in distress.

The moving module 570 is a device that allows the search apparatus 500 to move, and may be, for example, a motor connected to a propeller or the like. When the search device 500 is a drone, it is possible to move by using an even number of propellers, and by connecting a motor to each propeller and adjusting each, altitude, speed, inclination, etc. can be adjusted.

The control module 590 is a device that controls the overall operation process of the search apparatus 500, and the search apparatus 500 moves to a specific location, searches for the person in distress while moving along a specific path, and determines the location of the person in distress by the control server (400) so that it can be grasped.

Referring to FIG. 6 , the overall operation process of the search apparatus 500 controlled by the control module 590 of the search apparatus 500 will be described in detail as follows.

First, the search apparatus 500 receives location information of a specific area from the control server 400 (S201).

In this case, the location information of the specific area may be location information of the antenna 200 that has collected beacon information having the largest signal strength value according to the first embodiment of the present invention, and according to the second embodiment , may be location information of the beacon information collecting device 300 that has collected beacon information having the largest signal strength value.

Thereafter, the search device 500 moves to a location corresponding to the received location information (S203), and the location information of the search device 500 collected by the location sensor module 551 is transmitted to the control server 400 in real time. While transmitting (S205), the victim is searched for through the thermal sensor module 553 (S207).

If a survivor is not found, moving along the reverse direction of the ship route from the current location (S211), repeating steps S205 and S207, and if found, providing life-saving equipment to the survivor (S213), a search device ( The location information of 400) is transmitted to the control server 400 (S215).

Thereafter, upon receiving the rescue completion signal from the control server 400 (S217), it returns to the vessel on which the search apparatus 500 is mounted (S219).

As described above, while this specification contains numerous specific implementation details, these are not to be construed as limiting as to the scope of any invention or claim, but rather may be specific to particular embodiments of a particular invention. It should be understood as a description of features.

Further, while acts are depicted in the drawings in a particular order, it should not be construed that all acts shown must be performed or that such acts must be performed in the specific order or sequential order shown to achieve desirable results. In certain cases, multitasking and parallel processing may be advantageous. Further, the separation of the various system components of the above-described embodiments should not be construed as requiring such separation in all embodiments, and the program components and systems described may generally be integrated together into a single software product or packaged into multiple software products. You have to understand that you can.

The present description sets forth the best mode of the invention, and provides examples to illustrate the invention, and to enable a person skilled in the art to make and use the invention. This written specification does not limit the present invention to the specific terms presented. Accordingly, although the present invention has been described in detail with reference to the above-described examples, those skilled in the art can make modifications, changes and modifications to the examples without departing from the scope of the present invention.

Therefore, the scope of the present invention should not be defined by the described embodiments, but should be defined by the claims.

The present invention relates to a method and an apparatus for searching the location of a shipwrecked person, and more particularly, when a person on a ship falls under the ship and is lost in the sea, the beacon signal of the beacon device carried by the shipwrecked person in the sea It relates to a method and apparatus for searching for the location of a shipwrecked person using the .

According to the present invention, by using a beacon signal transmitted by a wearable device possessed by a person in distress, the location of the person in distress is identified, and the location of the person in distress is identified even when the person is not wearing a life jacket or life tube, and a search apparatus By moving the , rapid rescue is possible.

In addition, by using a short-distance communication device (eg, BLE, etc.) that transmits a beacon signal, rather than the existing GPS device, it is possible to implement a distress search method with low power, so there is no need to check the battery frequently, and the device It can also reduce the risk of malfunctioning, which can bring stability to the rescue of the survivors.

Therefore, it is possible to contribute to the development of the ship safety industry through the above method of searching for survivors, and in addition, the present invention has industrial applicability because it has sufficient potential for commercialization or business as well as a degree that can be clearly implemented in reality.

100: beacon device 200: antenna 300: beacon information collecting device
400: control server 500: search device 410: storage module of the control server
430: communication module of the control server 450: control module of the control server
510: storage module of the search device 530: communication module of the search device
550: sensor module of the search device 551: position sensor module of the search device
553: thermal sensor module of search device 570: movement module of search device
590: control module of the search device

Claims (5)

a communication module for transmitting and receiving data to and from at least one beacon information collecting device for collecting beacon information of a beacon signal generated from a distressed person and a search device; and
When the one or more beacon information collected by the at least one beacon information collecting device is received, it is determined whether one or more beacon information having a signal strength value greater than or equal to a preset threshold value exists, and one or more beacon information having a signal strength value greater than or equal to the threshold value is received. When the beacon information is present, a control module that determines that a person in distress has occurred; including,
The beacon signal is
When a person located on the ship becomes a shipwreck, the control server, characterized in that it is received through a plurality of antennas installed in the lower part of the ship. According to claim 1, wherein the control module
When it is determined that the distressed person has occurred, the control server, characterized in that it controls to transmit notification information notifying that a distress situation has occurred to the ship. According to claim 1, wherein the control module
and extracting a location of an area in which beacon information having the largest signal strength value is collected from among the at least one piece of beacon information, and controlling the search device to move the search device to the extracted location. delete Receiving, by the control server, one or more beacon information collected by at least one beacon information collecting device that collects beacon information of a beacon signal generated from a distressed person;
determining, by the control server, that a distressed person has occurred when one or more pieces of beacon information having a signal strength value greater than or equal to a preset threshold among the at least one piece of beacon information exists;
moving, by a search apparatus, to a location in an area in which beacon information having a largest signal strength value among the at least one beacon information is collected when it is determined that the distressed person has occurred;
when the search apparatus moves to the location of the area, the search apparatus moves along a specific path, and searches for the survivor through a thermal sensor; and
Transmitting the location information of the search device to the control server while searching for the person in distress; including,
The beacon signal is
When a person located on a ship becomes a shipwreck, the shipwreck search method, characterized in that it is received through a plurality of antennas installed at the bottom of the ship.

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