KR102465192B1 - A ship around-view system that measures the wave height - Google Patents

Abstract

The present invention relates to a wave height measuring system for a ship. The wave height measuring system for a ship according to the present invention comprises: a memory for storing predicted average strength of a sea surface under conditions in which a wave height is below a predetermined height; and a processor. The processor is configured to: receive laser data collected on the sea surface as a ship navigates on the sea surface, wherein the laser data includes a plurality of laser data points, and each data point of the plurality of laser data points has intensity information related to reflected light collected in a plurality of directions of the ship; determine an average intensity of the plurality of laser data points associated with the sea surface; compare the average intensity to a threshold value associated with a predicted average intensity of the sea surface under conditions in which the wave height is below the predetermined height; when the average intensity is equal to or greater than the threshold value, determine that the wave height of the sea surface is high; estimate the situation of the sea surface based on the determination that the wave height of the sea surface is high; and use the estimation to determine whether to water an anti-rolling tank which reduces rolling of the ship. The present invention can accurately measure the wave height at a point in actual navigation.

Description

A ship around-view system that measures the wave height}

The present invention relates to a ship around view system for measuring wave height, and more particularly, to a ship wave height measuring system capable of measuring the wave height of the sea level in operation for control of a ship navigation method, a navigation route, and a ship facility. .

Interest in ship energy efficiency is increasing day by day, and efforts are being made to estimate the operational performance of ships by monitoring the operational data of ships operating in real seas. In order to estimate the operational performance more accurately, the validity of the data on the ship's water speed and sea conditions should be verified. However, since the wave height, which affects ship operation and energy efficiency, is mainly dependent on weather forecasts, it is difficult to measure the actual wave height of the operating ocean.

The problem to be solved by the present invention is to accurately measure the wave height of the actual operating point.

The problems of the present invention are not limited to the problems mentioned above, and other problems not mentioned will be clearly understood by those skilled in the art from the following description.

In order to achieve the above object, a system for measuring a ship's height according to an embodiment of the present invention includes: a memory for storing the predicted average intensity of the sea level under conditions in which the wave height is less than or equal to a predetermined height; A processor, comprising: a processor configured to receive laser data collected about sea level as the vessel navigates at sea level, the laser data comprising a plurality of laser data points, each data point of the plurality of laser data points; has intensity information related to reflected light collected from a plurality of directions of the vessel); determine an average intensity of the plurality of laser data points associated with the sea level; comparing the average intensity to a threshold associated with a predicted average intensity of the sea level under conditions where the wave height is less than or equal to a predetermined height; determining that the wave height of the sea level is high when the average intensity is greater than or equal to the threshold value; estimating the situation of the sea level based on the determination that the wave height of the sea level is high; and use the estimate to determine whether to water an anti-rolling tank that reduces the rolling of the vessel.

The details of other embodiments are included in the detailed description and drawings.

According to the wave height measuring system for ships of the present invention, it is possible to accurately measure the wave height of the actual operating point.

The effects of the present invention are not limited to the above-mentioned effects, and other effects not mentioned will be clearly understood by those skilled in the art from the description of the claims.

1 is a system diagram of a ship according to an embodiment of the present invention.
Figure 2 is a representation of the measurement direction of the wave height measuring device according to an embodiment of the present invention based on the ship.
3 is a flowchart according to an embodiment of the present invention.
4 is graphs of exemplary data consistent with an embodiment of the present invention.

Advantages and features of the present invention and methods of achieving them will become apparent with reference to the embodiments described below in detail in conjunction with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but may be implemented in various different forms, and only these embodiments allow the disclosure of the present invention to be complete, and common knowledge in the technical field to which the present invention pertains It is provided to fully inform those who have the scope of the invention, and the present invention is only defined by the scope of the claims. Like reference numerals refer to like elements throughout.

Hereinafter, the present invention will be described with reference to the drawings for explaining the wave height measurement system for ships according to embodiments of the present invention.

1 is a representation of the measurement direction of the wave height measuring device for a ship according to an embodiment of the present invention based on the ship 20 .

The around-view system for a ship may arrange a plurality of cameras and/or a plurality of lidars around the ship. Referring to FIG. 1 , the lidar module 300 is disposed on the front side of the ship 20 , that is, the bow FWD, to measure the wave height. Accurate wave height measurement is not possible on the side (PORT, STBD) and rear (AFT) of the ship (see the dotted line and shaded part in the drawing) because bubbles and turbulence generated by the output device such as waves and screws are generated as the ship passes. ). Therefore, it is desirable to measure the wave height at the athlete. The area indicated by a dotted line around the vessel in FIG. 1 is an area unsuitable for wave height measurement.

2 is a system diagram of a vessel 20 according to an embodiment of the present invention.

Referring to FIG. 2 , as shown in a block diagram, a vessel 20 includes one or more processors 110 , memory 120 , and other components typically present in general purpose computing devices 100 . It is possible to have a control system of one or more computing devices 100 , such as computing devices 100 .

Memory 120 is one or more processors 110 , including instructions 121 and data 123 that may be executed by processors 110 , or otherwise used by processor 110 . ) to store information accessible by Memory 120 is any type capable of storing information accessible by processor 110 , including readable media by computing device 100 . Memory 120 is a non-transitory medium. Systems may include different combinations of the above such that different portions of instructions 121 and data 123 are stored on different types of media.

Instructions 121 may be any set of instructions 121 to be executed by processor 110 directly (such as machine code) or indirectly (such as scripts). For example, the instructions 121 may be stored as computing device 100 code on a computing device 100-readable medium. In that regard, the terms “instructions 121” and “programs” may be used interchangeably herein. The instructions 121 are in an object code format for direct processing by the processor 110 , or scripts of independent source code modules that are interpreted or precompiled as required. or any other computing device 100 language that includes sets. Data 123 may be retrieved, stored, or modified by one or more processors 110 according to instructions 121 . For example, data 123 in memory 120 may store information such as calibration information to be used when calibrating different types of sensors. The output result may be displayed on the display 115 .

The one or more processors 110 may be any conventional processors 110 , such as commercially available CPUs. Alternatively, the one or more processors 110 may be a dedicated device such as an ASIC or other hardware-based processor 110 . 2 functionally illustrates the processor 110(s), memory 120, and other elements of computing devices 100 as being within the same block, such devices may be housed within the same physical housing 250 or It may actually include a number of processors 110 , computing devices 100 , or memories 120 that may not be archived. Similarly, the memory 120 may be a hard drive or other storage media located in a different housing 250 than the housing 250 of the processor 110 . Accordingly, references to processor 110 or computing device 100 include references to sets of processors 110 or computing devices 100 or memories 120 that may or may not operate in parallel. will be understood to do

One or more processors 110 may be included as part of sensor assembly 161 . Processors 110 may be configured to process raw imagery received from various image sensors of camera module 200 , as well as information received from other sensors of overall sensor assembly 161 .

The navigation system 140 may be used by the computing devices 100 to determine and follow a route to a location. Navigation system 140 and/or data 123 may store map information, such as detailed charts, that computing devices 100 may use to navigate or control vessel 20 .

Perceptual system 160 also includes one or more components for detecting objects outside vessel 20 , such as other vessels 20 , maritime obstacles, buoys, buoys, berths 30 , etc. . The processor 110 may recognize other ships, marine obstacles, buoys, buoys, and berths 30 as gaze objects. Perceptual system 160 includes cameras, including image sensors, one or more LIDAR sensors, radar units, sonar devices, cameras, inertial (eg, gyroscopic) sensors, and/or computing devices 100 . may include one or more sets of any other detection devices that record data 123 that may be processed by Sensors in perceptual system 160 may detect objects and their characteristics, such as position, orientation, size, shape, type (eg, vessel 20, buoy, buoy, etc.), course, and speed of movement. can The raw data 123 from the sensors and/or the characteristics described above are transmitted periodically and continuously to the computing device 100 for further processing as it is generated by the perceptual system 160 . can be Computing devices 100 may utilize a positioning system 170 to determine the position of the vessel 20, and a perceptual system 160 to detect and react to objects when needed to safely reach the position. have. Additionally, computing devices 100 may perform calibration between individual sensors, all sensors in a particular sensor assembly 161 , or sensors in different sensor assemblies 161 .

Perceptual system 160 includes one or more sensor assemblies 161 . In one example, the sensor assembly 161 may be centrally located in a position on the vessel 20 that may provide 360° visibility around the vessel 20 . In another example, multiple sensors or at least one assembly may be distributed at various points on the vessel 20 . For example, it may be distributed at selected points along the bow (FWD), stern (AFT), port (PORT), and starboard (Starboard). A connection (not shown) may provide power, communication, and/or other connections between the sensor assembly 161 of the vessel 20 and one or more other systems. For example, the data 123 communication bus may provide two-way communication between the computing devices 100 and cameras and other sensors of the sensor assembly 161 . The power line may be connected directly or indirectly to the power system 150 , or to a separate power source such as a battery controlled by the computing devices 100 .

3 is a flowchart according to an embodiment of the present invention.

Referring to Figure 3, the wave height measurement system of the ship 20 according to an embodiment of the present invention, a memory 120 for storing the predicted average intensity of the sea level under the situation that the wave height is less than a predetermined height; a processor 110 , wherein the processor 110: receives the laser data 123 collected for the sea level as the vessel 20 navigates the sea level (the laser data 123 is a plurality of laser data 123 ) ) points, each of the data 123 points of the plurality of laser data 123 points having intensity information associated with reflected light collected from a plurality of directions of the vessel 20); determine an average intensity of a plurality of laser data 123 points associated with sea level; comparing the mean intensity to a threshold associated with the predicted mean intensity of sea level under conditions where the wave height is less than or equal to a predetermined height; when the average intensity is greater than or equal to the threshold, it is determined that the wave height of the sea level is high; estimating the sea level situation based on the determination that the sea level wave height is high; and use the estimation to determine whether to water an anti-rolling tank that reduces the rolling of the vessel 20 .

In one embodiment of the present invention, laser scan data 123 including data 123 points collected along sea level may be received by a computer. The laser scan data 123 indicates the position and intensity of objects, sea level characteristics, and the like, in the vicinity of the laser including sea level. In addition, images captured from the camera are received by the computer. Like the laser data 123 , the images contain resolution information about the camera's surroundings, including sea level. The identified indications are then used to estimate sea level conditions (weather, etc.). Estimates are used to determine the operation, maintenance, course and watering of the anti-rolling tanks of the vessel 20, as described in more detail below.

A system for measuring a wave height of a vessel 20 according to an embodiment of the present invention includes a vessel 20 having various components.

Vessel 20 has one or more computers, such as a computer including a processor 110 , memory 120 , and other components typically present in general purpose computers.

The processor 110: determines a distribution of intensity values over sea level; compare the determined distribution with the predicted distribution for low crest situations; when the determined distribution is shifted toward the bright end of the intensity scale relative to the predicted distribution for low wave height situations, the sea level is configured to identify an indication that the wave height is high; And the indication that the wave height is high is used by the processor 110 to estimate sea level conditions, and to determine the operation, management, course and/or water supply of the anti-rolling tank of the vessel 20 .

4 is graphs of exemplary data consistent with an embodiment of the present invention.

Referring to FIG. 4 , a graph depicts an example distribution 65 of predicted intensity values for low crest situations and an example distribution 75 of intensity values for high crest situations.

In this example, distribution 75 has been shifted (in the direction of arrow 80) towards the brighter end of the intensity scale. As mentioned above, the computer can use this shift to determine that sea level is high in wave height.

It is preferable that the lidar module 300 is disposed on the athlete (FWD). The port and starboard of the ship 20 always generate constant waves by the ship 20, and in particular, the stern generates turbulence due to the screw, so it is impossible to accurately measure the wave height.

In the present invention, the computer receives laser data 123 that is collected for sea level as the vessel 20 is operated. As mentioned above, the laser data 123 includes a plurality of laser data 123 points having position and intensity information. The computer determines the average intensity from the received laser data 123 . This average intensity is compared to a threshold for sea level. When the average intensity is above the threshold, the computer identifies an indication that the wave height at sea level is high.

In another example, the computer examines changes in sea level intensity to identify an indication of whether the sea level wave height is high or not. For example, the computer calculates the standard deviation or distribution of intensity values along a portion of the sea level. During low wave height situations, the distribution of intensity values may be close to a Gaussian model centered around the predicted intensity value for the low wave height sea level. For example, in low wave height situations, intensity values are expected to cluster around similar values. If the distribution of intensity values is shifted from closer to the predicted distribution for low wave height situations toward higher intensity, the computer may indicate that the wave height at sea level is high.

When the wave height is above a certain level, the processor 110 determines that the rolling occurrence of the vessel 20 is high and starts watering the anti-rolling tank. The amount of water supplied may vary depending on the wave height. Since the structure of the anti-rolling tank is the same as that already known, a detailed description thereof will be omitted.

When the wave height is above a certain level, the processor 110 may limit the operation of the vessel, work on the sea, or the like, or change the operating speed, the route, and the like. The route may refer to the navigation system 140 .

In the above, preferred embodiments of the present invention have been illustrated and described, but the present invention is not limited to the specific embodiments described above, and in the technical field to which the present invention pertains without departing from the gist of the present invention as claimed in the claims. Various modifications may be made by those of ordinary skill in the art, and these modifications should not be individually understood from the technical spirit or perspective of the present invention.

Claims (3)

a memory for storing a predicted average intensity of sea level under conditions in which a wave height is less than or equal to a predetermined height; and
including a processor;
The processor is
As the vessel navigates at sea level, the center of the bow of the vessel receives laser data collected for the sea level in the forward direction (the laser data includes a plurality of laser data points, and a data point among the plurality of laser data points) each having intensity information associated with reflected light collected from a plurality of directions of the vessel);
determine an average intensity of the plurality of laser data points associated with the sea level;
comparing the average intensity to a threshold associated with a predicted average intensity of the sea level under conditions where the wave height is less than or equal to a predetermined height;
determining that the wave height of the sea level is high when the average intensity is greater than or equal to the threshold value;
estimating the situation of the sea level based on the determination that the wave height of the sea level is high;
determine a distribution of intensity values over the sea level;
compare the determined distribution with a predicted distribution for low crest situations;
when the determined distribution is shifted toward a bright end of an intensity scale relative to the predicted distribution for low wave height situations, the sea level identifies an indication that the wave height is high;
using the above estimate to determine whether to water an anti-rolling tank that reduces the rolling of the vessel;
The lidar module for receiving the laser data,
A wave height measurement system for ships placed in the center of the ship's bow. delete delete

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