KR102477457B1 - Docking aid and monitoring system of naval vessels - Google Patents

Abstract

The present invention relates to a naval vessel monitoring and berthing support system, wherein through image recognition using artificial intelligence (AI) technology, when a naval vessel such as a submarine or warship is berthing at a pier, berthing support information such as a berthing distance between the naval vessel and the pier, the approach speed of the naval vessel, a berthing angle of the naval vessel, a water depth height of the pier at which the naval vessel is berthing, and portside/starboard distances between the naval vessel and the pier is provided through an outdoor electronic display installed around the corresponding pier. In accordance with the present invention, when the berthing support information is provided to the outdoor electronic display installed around the corresponding pier at which the naval vessel is berthing, a navigator of the naval vessel or a pilot of a guidance vessel can directly check the berthing support information and accurately and quickly complete the berthing work while being supported for safe sailing of the naval vessel, and the accurate and quick completion of the berthing work can result in a collision accident prevention effect between the naval vessel and the pier, which can lead to an effect of preventing an accident such as an injury, death or the like of a berthing operator or a berthing work manager in the pier. In particular, since the type of a naval vessel such as a submarine or warship can be determined through image recognition using artificial intelligence (AI), the naval vessel monitoring and berthing support system can monitor whether a suspicious naval vessel or a general vessel, which is not registered in advance, is approaching into the pier.

Description

Docking aid and monitoring system of naval vessels}

The present invention relates to a naval vessel monitoring and berthing support system, and more particularly, to a naval vessel monitoring and berthing support system that monitors a naval vessel and provides berthing support information thereof through an outdoor display board.

In the port of the naval base, when berthing naval vessels such as warships (eg battleships, destroyers, cruisers, torpedo boats, minesweepers, unmanned surface boats, etc.) or surfaced submarines at the pier, The pilot of the guidance ship adjusts the movement route and position of the naval vessel by radio or empirically depending on the senses.

In this way, if a navigator of a naval vessel or a pilot of a guidance ship adjusts the movement route and location of a naval vessel by radio or empirically based on their senses at the port of a naval base, accurate and prompt berthing operations may be difficult. In particular, Inaccurate or rushed berthing operations can cause a collision between a naval vessel and a berth, and a collision between a vessel and a pier can lead to safety accidents such as injury or death to berth workers or berthing managers in the berth. have.

On the other hand, if a suspicious naval vessel or general vessel without berthing authority attempts to approach the pier at the port of the naval base, it may be necessary to issue an alert based on the results of prompt and accurate monitoring.

KR 10-1683274 B1

The present invention is to solve the above-mentioned conventional problems, and an object of the present invention is to perform image recognition using artificial intelligence (AI) technology when a naval vessel such as a submarine or warship is docking at a pier, The berthing distance between the naval vessel and the berth, the approaching speed of the naval vessel, the berthing angle of the naval vessel, the height of the water depth of the pier where the naval vessel berths, It is to provide a naval vessel monitoring and berthing support system that provides berthing support information such as port/starboard distance of the port through an outdoor electronic display board installed around the pier.

Another object of the present invention is to determine the type of a naval vessel in an image captured by a camera through image recognition using artificial intelligence (AI) technology. It is to provide a naval vessel monitoring and berthing support system that issues a warning alert to monitor approach within the pier.

In order to achieve the object of the present invention as described above, a naval vessel monitoring and berthing support system according to the present invention includes at least one camera for photographing a naval vessel berthing at a pier; A meteorological measuring device for measuring the height of the sea level of the pier where the naval vessel docks and collecting meteorological environment information (eg, wind direction, wind speed, wave height, atmospheric pressure, humidity, temperature, etc.) around the pier; Through machine learning method or deep learning method image recognition using artificial intelligence (AI) technology, the naval vessel in the image taken by the camera is monitored and the type (eg, submarine, battleship, destroyer, cruiser, torpedo boat) is monitored. , minesweeper, unmanned surface vessel, etc.) and an image recognition server that determines the coordinates; The coordinates of the naval vessel in the captured image determined by the image recognition server are analyzed and changed to the actual coordinates within the pier of the corresponding naval vessel 300, and the change in the actual coordinates and the sea level measured by the weather meter An image analysis server for generating berthing support information to be provided in real time for a naval vessel currently berthing at a pier based on height and the height of the camera; And a display server that receives the berthing support information generated by the video analysis server in real time and displays it on an outdoor electric signboard installed around the pier and a berthing operation manager monitor in a remote place.

In the naval vessel monitoring and docking support system according to the present invention, the image recognition server determines that the type of naval vessel in the image captured by the camera is not registered in advance through image recognition, the suspicious naval vessel or general vessel. It is characterized by issuing a warning alert monitoring the approach to the pier.

In the naval vessel monitoring and berthing support system according to the present invention, the at least one camera is characterized in that it consists of a ground camera installed around the pier and an aerial camera mounted on a fixed-wing UAV launched over the pier.

In the naval vessel monitoring and berthing support system according to the present invention, the berthing support information generated by the video analysis server is the berthing distance between the naval vessel and the pier, and the approach speed of the corresponding naval vessel with respect to the naval vessel berthing at the pier. , It is characterized in that it includes at least one or more of the berthing angle of the naval ship, the height of the water depth of the pier to which the naval ship berths, and the port/starboard distance between the naval ship and the pier.

In the naval vessel monitoring and berthing support system according to the present invention, the video analysis server can measure the actual distance of the naval vessel based on the actual coordinates of the pier boundary calculated from the image taken of the naval vessel berthing at the pier. In order to do this, among the images taken by the navy vessel, four reference points are specified within the camera surveillance area according to the location of each ground camera and used for actual distance measurement, and the aerial camera's image is used for correction of actual distance measurement. to be characterized

In the naval vessel monitoring and docking support system according to the present invention, the video analysis server specifies four reference points within the camera monitoring area according to the location of each ground camera and uses them for actual distance measurement, and the four reference points are rectangular. (For example, a square, a rectangle, an isosceles trapezoid, an isosceles trapezoid, etc.).

In the naval vessel monitoring and docking support system according to the present invention, the video analysis server automatically selects an image obtained from a ground camera having a relatively higher installation height than a ground camera having a relatively low height, and monitors the camera of the automatically selected image. It is characterized in that four reference points are specified within the area and used for actual distance measurement.

In the naval vessel monitoring and berthing support system according to the present invention, the video analysis server utilizes an image obtained from a ground camera that shows the entire appearance from the bow to the stern of the vessel among the images taken of the naval vessel berthing at the pier. It is characterized in that the eyepiece angle of the naval vessel is calculated and the image taken by the aerial camera is used for correction of the calculated value of the eyepiece angle.

In the naval vessel monitoring and berthing support system according to the present invention, the expression server provides meteorological environment information (e.g., wind direction, wind speed, wave height, atmospheric pressure, humidity, temperature, etc.) is characterized in that it is expressed.

According to the present invention, when a naval vessel provides berthing support information to an outdoor electronic display board installed around the pier during berthing operation, the navigator of the naval vessel or the pilot of the guidance ship directly checks the berthing support information while receiving support for the safe operation of the naval vessel Accurate and prompt berthing work can be completed, and as such accurate and quick berthing work can be completed, the effect of preventing collision accidents between naval vessels and piers can be expected, and due to the effect of preventing collision accidents between naval vessels and piers, The effect of preventing safety accidents such as injury or death of a berthing worker or a berthing manager can be expected more.

Since the present invention can determine the type of a naval vessel such as a submarine or a warship through image recognition using artificial intelligence (AI) technology, the dock of a suspicious naval vessel or general ship that has not been registered in advance through image recognition You can monitor my access.

1 is a block diagram showing the configuration of a naval vessel monitoring and docking support system according to the present invention.
Figure 2 is an embodiment showing the state of use of the naval vessel monitoring and berthing support system according to the present invention.
FIG. 3 is an embodiment illustrating a ground camera surveillance area of FIG. 2 ;
Figure 4 is an embodiment showing the installation height of the ground camera of Figure 2;
5 is an embodiment showing a screen of an outdoor electric signboard expressing berthing support information according to the present invention.
6 is an embodiment showing a screen of a monitor for berthing operation manager expressing berthing support information and meteorological environment information according to the present invention.

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

The naval vessel monitoring and docking support system according to the present invention described below is not limited to the following embodiments, and anyone having ordinary knowledge in the relevant technical field without departing from the gist of the technology claimed in the claims It has the technical spirit to the extent that it can be implemented by changing it.

As shown in FIG. 1, the naval vessel monitoring and docking support system 100 according to the present invention includes at least one camera 110, a weather measuring device 120, an image recognition server 130, and an image analysis server 140. and an expression server 150.

The at least one camera 110 photographs the naval vessel 300 berthing at the pier 200 .

Preferably, the at least one camera 110 includes a ground camera 110a installed around the pier 200 and an aerial camera 110b mounted on a fixed-wing UAV launched over the pier 200.

For reference, FIG. 2 shows six ground cameras 110a and one pier 200 launched above the naval vessel monitoring and berthing support system 100 according to the present invention for berthing support of the naval vessel 300. An embodiment in which an aerial camera 110b mounted on a fixed-wing UAV is used is shown.

The meteorological measuring device 120 measures the height of the sea level of the pier 200 at which the naval vessel 300 docks, and provides meteorological environment information (eg, wind direction, wind speed, wave height, atmospheric pressure, humidity, temperature) around the pier 200. etc.) are collected.

It is preferable that the meteorological measuring device 120 measures the height of the sea level at the pier 200 by loading and driving a sea level correction program that reflects the difference between the tide and the tide and uses a trigonometric function.

The image recognition server 130 recognizes the type of naval vessel 300 in the image captured by the camera 110 through image recognition using a machine learning method or a deep learning method using artificial intelligence (AI) technology. For example, submarine, battleship, destroyer, cruiser, torpedo boat, minesweeper, unmanned surface boat, etc.) and coordinates are determined.

When the image recognition server 130 determines that the type of naval vessel 300 in the image captured by the camera 110 has not been registered in advance through image recognition, the suspicious naval vessel or general vessel approaches the pier. It is desirable to issue a monitoring alert.

The image analysis server 140 analyzes the coordinates of the naval vessel 300 in the captured image determined by the image recognition server 130, and the actual coordinates of the naval vessel 300 within the pier 200. and based on the change in the actual coordinates, the height of the sea level measured by the weather measuring device 120, and the height of the camera 110, the naval vessel 300 berthing at the pier 200 will be provided in real time. Generates berthing support information.

The image analysis server 140 is equipped with a homography program that analyzes the coordinates of the naval vessel 300 in the captured image and changes them to actual coordinates within the pier 200 of the corresponding naval vessel 300. and it is desirable to drive it.

The video analysis server 140 mounts and drives a real-time tracking program based on a Kalman filter and a Hungarian algorithm (eg, Simple Online and Realtime Tracking (SORT)) to analyze the coordinates of the naval ship 300 in the captured video. It is preferable to use

The berthing support information generated by the image analysis server 140 is the berthing distance between the naval vessel 300 and the pier 200 for the naval vessel 300 currently berthing at the pier 200, the corresponding naval vessel 300 At least one of the approach speed, the berthing angle of the naval vessel 300, the height of the water depth of the pier 200 at which the naval vessel 300 docks, and the port / starboard distance between the naval vessel 300 and the pier 200 It is preferred to include one or more.

The image analysis server 140 is configured to measure the actual distance of the naval vessel 300 based on the actual coordinates of the pier boundary calculated from the captured image of the naval vessel 300 berthing at the pier 200. In order to do this, four reference points are specified in the camera surveillance area according to the position of each ground camera 110a among the captured images of the naval vessel 300 and used for measuring the actual distance, and the image taken by the aerial camera 110b is used for the actual distance measurement. It is desirable to use it for calibration of measurements.

The video analysis server 140 specifies four reference points within the camera monitoring area according to the location of each ground camera 110a and uses them for actual distance measurement, and the four reference points are rectangular (e.g., square, rectangular, non-standard). It is preferable to form a side trapezoid, an isosceles trapezoid, etc.).

For reference, FIG. 3 is an embodiment illustrating a camera monitoring area of the terrestrial camera 110a used in FIG. 2 .

Figure 3 (a) shows the camera surveillance areas (#1, #2) of the two ground cameras 110_1 and 110_2, and Figure 3 (b) shows the camera of the ground camera 110_1 shown in Figure 3 (a). An embodiment in which four specific reference points form an isosceles trapezoid in the monitoring area and an embodiment in which four specific reference points form a rectangle in the camera monitoring area of the terrestrial camera 110_2 shown in FIG. 3 (a) are shown.

The video analysis server 140 automatically selects an image obtained from the ground camera 110a having a relatively higher installation height than the ground camera 110a having a relatively low height, and automatically selects four images within the camera monitoring area of the selected image. It is desirable to specify a reference point and use it for actual distance measurement.

For reference, FIG. 4 is an embodiment illustrating an increase/decrease in an actual distance measurement error rate according to an installation height of the ground camera 110a used in FIG. 2 based on a 100 m section.

As shown in (a) of FIG. 4 , when the installation height of the ground camera 110a installed around the pier 200 is low, for example, the distance per pixel of the image displayed on the eyepiece operation manager monitor 152 in a remote place is There is a disadvantage in that the actual distance measurement error rate increases due to an increase in the distance.

In contrast, as shown in (b) of FIG. 4, when the installation height of the ground camera 110a installed around the pier 200 is relatively high compared to the case of (a) of FIG. 4, for example, berthing in a remote place. As the distance per pixel of the image displayed on the task manager monitor 152 decreases, the actual distance measurement error rate decreases, and a measurement result value substantially identical to the actual distance can be obtained.

The image analysis server 140 captures an image obtained from a ground camera 110a showing the entire appearance from the bow to the stern of the ship 300 among the images of the naval ship 300 during berthing operation at the pier 200. It is preferable to calculate the eyepiece angle of the naval vessel 300 by utilizing the eyepiece angle and use the captured image of the aerial camera 110b to correct the eyepiece angle calculated value.

The display server 150 receives the berthing support information generated by the image analysis server 140 in real time, and displays the outdoor electronic signboard 151 installed around the pier 200 and the berthing operation manager monitor 152 in a remote place. ) to be expressed in

The display server 150 provides meteorological environment information (eg, wind direction, wind speed, wave height, air pressure, humidity, temperature, etc.) is preferably expressed.

The naval vessel monitoring and docking support system 100 according to the present invention configured as described above operates as follows.

2 is a fixed-wing drone launched over six ground cameras 110a and one pier 200 to support the berthing of a naval vessel 300 in the naval vessel monitoring and berthing support system 100 according to the present invention. An embodiment in which an onboard aerial camera 110b is used is shown.

2 illustrates a submarine as a naval vessel 300 .

Referring to FIG. 2, for a naval vessel 300 such as a warship (eg, a battleship, a destroyer, a cruiser, a torpedo boat, a minesweeper, an unmanned surface boat, etc.) When the berthing operation is performed, ground cameras 110a and aerial cameras 110b corresponding to the moving route and position of the corresponding naval vessel capture the naval vessel 300 berthing the pier 200.

In addition, at this time, the meteorological measuring device 120 measures the height of the sea level of the pier 200 at which the naval vessel 300 docks and meteorological environment information around the pier 200 (eg, wind direction, wind speed, wave height, atmospheric pressure) , humidity, temperature, etc.) are collected.

As described above, when the naval vessel 300 working alongside the pier 200 is photographed by the ground cameras 110a and the aerial camera 110b, the image recognition server 130 performs artificial intelligence (AI) Through machine learning method or deep learning method image recognition using technology, the corresponding naval vessel 300 in the captured video is monitored, and the type (eg, submarine, battleship, destroyer, cruiser, torpedo boat, minesweeper, unmanned surface boat, etc.) determine the coordinates

At this time, if the image recognition server 130 determines that the type of naval vessel 300 in the image captured by the camera 110 has not been registered in advance through image recognition, the suspicious naval vessel or the pier of the general ship Alerts are issued to monitor my approach, and accordingly, other alert operations can be performed based on the results of quick and accurate monitoring of suspicious naval vessels or general ships entering the naval base.

After the image recognition server 130 determines the type (eg, submarine, battleship, destroyer, cruiser, torpedo boat, minesweeper, unmanned surface boat, etc.) and coordinates of the corresponding naval vessel 300 in the above-described captured image, the The image analysis server 140 analyzes the coordinates of the naval vessel 300 in the captured image determined by the image recognition server 130 and converts them to actual coordinates within the pier 200 of the corresponding naval vessel 300. A berthing to be provided in real time for the naval vessel 300 currently working on docking at the pier 200 based on the change in the actual coordinates, the height of the sea level measured by the weather measuring device 120, and the height of the camera 110. Generate supporting information.

At this time, the video analysis server 140 determines the berthing distance between the naval vessel 300 and the pier 200, and the approach of the corresponding naval vessel 300 with respect to the naval vessel 300 currently berthing at the pier 200. At least one of the speed, the berthing angle of the naval vessel 300, the height of the water depth of the pier 200 at which the corresponding naval vessel 300 berths, and the port/starboard distance between the naval vessel 300 and the pier 200 It generates berthing support information including.

When the berthing support information is generated by the video analysis server 140, the display server 150 receives the berthing support information in real time, and the outdoor display board 151 installed around the pier 200 and the remote location It is displayed on the berthing operation manager monitor 152.

At this time, the display server 150 provides meteorological environment information around the pier 200 (eg, wind direction, wind speed, wave height, atmospheric pressure, humidity, temperature, etc.) are preferably expressed together.

For reference, FIG. 5 is an embodiment showing a screen of an outdoor electronic display board 151 expressing berthing support information according to the present invention, the berthing distance between the naval vessel 300 and the pier 200, the naval vessel 300 Expresses the approach speed, the berthing angle of the naval vessel 300, the height of the water depth of the pier 200 at which the naval vessel 300 berths, and the port / starboard distance between the naval vessel 300 and the pier 200, have.

For reference, FIG. 6 is an embodiment showing a screen of the monitor 152 for berthing operation manager displaying berthing support information and meteorological environment information according to the present invention.

In FIG. 6, screen ① is an embodiment for outputting an image received from the camera 110, screen ② is an embodiment for displaying berthing support information as shown in FIG. 5, and screen ③ is the sea level. This is an embodiment in which the height and the installation height of the ground camera 110a or the altitude of the aerial camera 110b are expressed, the screen ④ is an embodiment in which log records of berthing operation management are output, and the screen ⑤ shows the weather measuring device ( 120) is an embodiment of displaying the meteorological environment information collected.

As can be seen from the above, when the naval vessel 300 provides berthing support information to the outdoor display board 151 installed around the pier 200 in which the naval vessel 300 is berthing, according to the present invention, the navigator or the navigator of the naval vessel 300 The pilot of the guide ship can complete the berthing operation accurately and promptly while receiving support for the safe operation of the naval vessel 300 while directly checking the berthing support information.

In addition, as described above, according to the present invention, as accurate and rapid completion of the berthing operation is possible, the effect of preventing a collision accident between the naval vessel 300 and the pier 200 can be expected, and the naval vessel 300 and the pier 200 Due to the effect of preventing collision accidents between the pier 200, the effect of preventing safety accidents such as injury or death of a berthing worker or a berthing operation manager can be further expected.

In particular, according to the present invention, since the type of naval vessel 300 such as a submarine or a warship can be determined through image recognition using artificial intelligence (AI) technology, suspicious naval vessels that have not been registered in advance through image recognition Access within the pier 200 of traps or general ships can be monitored.

100: Naval vessel surveillance and docking support system
110: camera 110a, 110_1, 110_2: ground camera
110b: aerial camera 120: weather meter
130: image recognition server 140: image analysis server
150: expression server 151: outdoor display board
152: manager monitor 200: dock
300: naval vessels

Claims (9)

At least one or more cameras 110 for photographing the naval vessel 300 berthing at the pier 200;
A weather measuring device 120 for measuring the height of the sea level of the pier 200 where the naval ship 300 docks and collecting weather environment information around the pier 200;
An image for monitoring the naval vessel 300 in the image captured by the camera 110 through image recognition using a machine learning method or a deep learning method using artificial intelligence (AI) technology to determine the type and coordinates of the naval vessel 300 recognition server 130;
The coordinates of the naval vessel 300 in the photographed image determined by the image recognition server 130 are analyzed and changed to the actual coordinates within the pier 200 of the corresponding naval vessel 300, and the change of the actual coordinates Based on the height of the sea level and the height of the camera 110 measured by the weather measuring device 120 and the height of the camera 110, video analysis for generating berthing support information to be provided in real time for the naval vessel 300 working alongside the pier 200 server 140; and
A display server that receives the berthing support information generated by the video analysis server 140 in real time and displays it on the outdoor display board 151 installed around the pier 200 and the berthing work manager monitor 152 in a remote place. (150);
consists of,
The image analysis server 140 is configured to measure the actual distance of the naval vessel 300 based on the actual coordinates of the pier boundary calculated from the captured image of the naval vessel 300 berthing at the pier 200. In order to do this, four reference points are specified in the camera surveillance area according to the position of each ground camera 110a among the captured images of the naval vessel 300 and used for measuring the actual distance, and the image taken by the aerial camera 110b is used for the actual distance measurement. A naval vessel monitoring and docking support system characterized in that it is used for calibration of measurements. According to claim 1, the at least one camera (110) consists of a ground camera (110a) installed around the pier (200) and an aerial camera (110b) mounted on a fixed-wing UAV launched over the pier (200). Naval vessel surveillance and docking support system, characterized in that being. The method of claim 1, wherein the image recognition server (130) determines that the type of naval vessel (300) in the image captured by the camera (110) has not been registered in advance through image recognition. A naval vessel monitoring and docking support system, characterized in that issuing a warning alert to monitor the approach of a ship to the pier. The method of claim 1, wherein the berthing support information generated by the image analysis server 140 is the berthing distance between the naval vessel 300 and the pier 200 with respect to the naval vessel 300 currently berthing at the pier 200, The approach speed of the naval vessel 300, the berthing angle of the naval vessel 300, the height of the water depth of the pier 200 at which the corresponding naval vessel 300 docks, the port side of the naval vessel 300 and the pier 200 / Naval vessel monitoring and docking support system, characterized in that it includes at least one of the starboard distance. The method of claim 1, wherein the video analysis server (140) specifies four reference points in a camera monitoring area according to the location of each ground camera (110a) and uses them for measuring the actual distance, and the four reference points form a square. A naval vessel monitoring and docking support system characterized in that for doing. The method of claim 1, wherein the image analysis server (140) automatically selects an image obtained from a ground camera (110a) having a relatively higher installation height than the ground camera (110a) having a relatively low height, and automatically selects the camera of the selected image. A naval vessel monitoring and docking support system characterized in that four reference points are specified within the monitoring area and used for actual distance measurement. According to claim 1, the image analysis server (140) is a ground camera (110a) that shows the entire appearance from the bow to the stern of the naval vessel (300) among the captured images of the naval vessel (300) in berthing operation at the pier (200). ) Using the image obtained from the naval vessel 300 to calculate the berth angle of the naval vessel 300, and the video captured by the aerial camera 110b to be used for correction of the calculated value of the ocular angle calculation. Naval vessel monitoring and berthing support system. The method of claim 1, wherein the display server 150 displays weather environment information around the pier 200 collected by the weather measuring instrument 120 on the berthing operation manager monitor 152 in the remote place. Naval vessel surveillance and berthing support system. delete

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