KR102495878B1 - Vessel docking guide system - Google Patents

Abstract

An embodiment of the present invention provides a vessel docking guide system, which comprises: a first receiver installed at the bow of a ship to dock, and receiving a first radio signal in a first frequency range; a second receiver installed at the stern of the ship and receiving a second radio signal in a second frequency band different from the first frequency band; and a control unit which determines a distance to a destination and a position of the vessel with respect to the destination are determined, based on the first radio signal received by the first receiver or the second radio signal received by the second receiver, and generates a control signal to dock the ship at the destination in a state in which the ship is arranged. The present invention reduces costs and a time required for anchoring procedures.

Description

Vessel berthing guidance system {VESSEL DOCKING GUIDE SYSTEM}

The present invention relates to a ship docking guidance system, and more particularly, to a ship docking guidance system using a radio signal.

In general, when large ships such as cruise ships, large container ships, and large commercial ships arrive at ports and unload passengers or cargo, they approach port facilities and go through a predetermined anchoring procedure to dock at the pier.

Recently, an increasing number of large ships are increasing for efficient logistics transportation, and due to the increase in cross-border logistics movement, the cost required for berthing these ships is also on a steep rise, and this trend is expected to continue. do.

Vessel berthing is carried out without time restrictions day and night, especially at night, due to the difference in physical shape and size of large vessels, it is often difficult to distinguish them with the naked eye, so safety accidents often occur during berthing. are doing In addition, in the case of rain or heavy snow, it is difficult to secure the visibility and visibility of personnel involved in the pilotage, requiring a lot of assistance in addition to the pilot.

In addition, the berthing accident of a large ship leads to damage to the berthing facility as well as stress reinforcement of the interior and exterior of the ship in addition to the loss of the target ship itself, resulting in significant losses.

Therefore, it is the time when the development of technology to solve these problems is urgently required.

The technical problem to be achieved by the present invention is to provide a ship berth system that can minimize the mobilization of manpower and equipment required for the docking procedure of a ship, and enable quick and accurate anchoring.

The technical problem to be achieved by the present invention is not limited to the above-mentioned technical problem, and other technical problems not mentioned can be clearly understood by those skilled in the art from the description below. There will be.

In order to achieve the above technical problem, an embodiment of the present invention is installed in the bow of a ship to be docked, and a first receiver for receiving a first radio signal in a first frequency band, and installed in the stern of the ship a second receiver for receiving a second radio signal in a second frequency domain different from the first frequency domain, and the first radio signal received by the first receiver or the second radio signal received by the second receiver Based on the signal, providing a vessel berthing guidance system including a control unit that determines the distance to the destination and the posture of the vessel with respect to the destination, and generates a control signal for berthing the vessel to the destination in an aligned state do.

In an embodiment of the present invention, a first transmitter installed at the destination to transmit the first radio signal of the first frequency domain; and a first transmitter installed at the destination to transmit the second radio signal of the second frequency domain. It may further include a second transmitter for transmitting.

In an embodiment of the present invention, the control unit determines the distance between the first receiver and the first transmitter determined based on the first radio signal, and the second receiver determined based on the second radio signal. It is possible to determine the attitude of the ship by comparing the distance with the second transmitter and to generate the control signal for aligning the attitude of the ship with respect to the destination according to the determined attitude of the ship.

In an embodiment of the present invention, the control unit, based on the received first radio signal or the received second radio signal, the traveling speed of the ship approaching the destination, and the location of the ship with respect to the destination It is possible to determine and generate the control signal in consideration of the determined traveling speed of the ship, the location, and attitude of the ship.

In an embodiment of the present invention, a lidar sensor installed in the ship, transmitting a laser signal toward the destination, and receiving a reflection signal returned by reflecting the transmitted laser signal, wherein the control unit, An angle related to the distance to the destination and the approach angle of the ship to the destination may be calculated through the reflected signal received by the lidar sensor.

In an embodiment of the present invention, an ultrasonic sensor installed in the ship, transmitting a sound wave signal toward the destination, and receiving a reflected signal returned by reflecting the transmitted sound wave signal, wherein the control unit comprises the A distance to the destination and an angle related to the approach angle of the vessel to the destination may be calculated through the reflected signal received by the ultrasonic sensor.

In an embodiment of the present invention, the control unit generates the control signal in consideration of environment information input from the outside, wherein the environment information is based on at least one of wind direction, wind volume, and wave strength around the destination. may be information.

In an embodiment of the present invention, the control unit determines the expected berthing path and berthing speed of the vessel to the destination based on the distance to the determined destination and the posture of the vessel with respect to the destination, and by the control unit It may further include a display unit for displaying the determined current position of the ship, the distance to the destination, the attitude of the ship, and the expected berthing path on a screen.

In an embodiment of the present invention, a first side thruster installed at the bow of the ship to generate propulsion of the ship, and a second side thruster installed at the stern of the ship to generate propulsion of the ship A thruster and a rudder installed at the stern of the ship to control the traveling direction of the ship, wherein the first side thruster, the second side thruster, and the rudder are generated from the controller It can be driven according to a control signal.

According to an embodiment of the present invention, it is possible to minimize the mobilization of manpower and equipment used in the anchoring procedure of the ship, and to ensure that the anchoring is performed quickly and accurately, thereby reducing the cost and time required for the anchoring procedure, and anchoring. It can reduce maritime accidents that occur in the process.

The effects of the present invention are not limited to the above effects, and should be understood to include all effects that can be inferred from the description of the present invention or the configuration of the invention described in the claims.

1 is a block diagram schematically showing the configuration of a ship docking guidance system according to an embodiment of the present invention.
Figure 2 is a view schematically showing the concept of the berthing guidance operation of the ship berthing guidance system according to an embodiment of the present invention.

Hereinafter, the present invention will be described with reference to the accompanying drawings. However, the present invention may be embodied in many different forms and, therefore, is not limited to the embodiments described herein. And in order to clearly explain the present invention in the drawings, parts irrelevant to the description are omitted, and similar reference numerals are attached to similar parts throughout the specification.

Throughout the specification, when a part is said to be "connected (connected, contacted, combined)" with another part, this is not only "directly connected", but also "indirectly connected" with another member in between. "Including cases where In addition, when a part "includes" a certain component, it means that it may further include other components without excluding other components unless otherwise stated.

Terms used in this specification are only used to describe specific embodiments, and are not intended to limit the present invention. Singular expressions include plural expressions unless the context clearly dictates otherwise. In this specification, terms such as "include" or "have" are intended to indicate that there is a feature, number, step, operation, component, part, or combination thereof described in the specification, but one or more other features It should be understood that the presence or addition of numbers, steps, operations, components, parts, or combinations thereof is not precluded.

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

1 is a block diagram schematically showing the configuration of a ship docking guidance system according to an embodiment of the present invention.

And, Figure 2 is a diagram schematically showing the concept of the berthing guidance operation of the ship berthing guidance system according to an embodiment of the present invention.

Referring to FIG. 1, the ship berthing guidance system according to an embodiment of the present invention includes a first receiver 110, a second receiver 120, a controller 130, and a lidar sensor 140 mounted on a ship 100. ), an ultrasonic sensor 150, a travel driving unit 160, an input unit 170, and a display unit 180, a first transmission unit 210 installed at the pier 200 where the ship 100 is a docking destination, and It may be configured to include 2 transmitters 220 .

The ship berthing guidance system of the present invention can smoothly dock even in a situation where it is difficult to secure a view by grasping the state of a ship approaching the pier through radio signal transmission and reception between transmitters installed on the pier 200 and receivers installed on the ship. there is.

The first transmission unit 210 and the second transmission unit 220 according to an embodiment of the present invention may each transmit radio signals having different frequency domains. The first transmission unit 210 may transmit a first radio signal in a first frequency range, and the second transmission unit 220 may transmit a second radio signal in a second frequency range different from the first frequency range. For example, the first radio signal may be a radio signal modulated to have a bandwidth of 90 Hz, and the second radio signal may be a radio signal modulated to have a bandwidth of 150 Hz.

In addition, the first receiver 110 and the second receiver 120 installed in the ship 100 of the present invention can receive radio signals transmitted from the first transmitter 210 and the second transmitter 220, respectively. there is.

As shown in FIG. 2, the first receiver 110 according to this embodiment is installed in the bow of the ship 100 and receives the first radio signal transmitted from the first transmitter 210. .

Then, the second receiver 120 is installed at the stern of the ship 100 and receives the second radio signal transmitted from the second transmitter 220 .

The control unit 130 determines the distance between the ship 10 and the destination pier 200 based on the first radio signal received by the first receiver 110 or the second radio signal received by the second receiver 120, And by determining the posture of the ship 100 with respect to the pier 200, a control signal for berthing the ship 100 to the pier 200 in an aligned state may be generated.

Here, the alignment state of the vessel 100 may mean a state parallel to the quay wall of the pier 200 .

The control unit 130 controls the distance between the first transmitter 210 and the bow of the ship 100 on which the first receiver 110 is installed based on the first radio signal received by the first receiver 110 (hereinafter, the first distance). ), and the distance between the stern of the ship 100 on which the second receiver 120 is installed and the second transmitter 220 (hereinafter referred to as the second distance) based on the second radio signal received by the second receiver 120 can figure it out Accordingly, the controller 130 may determine the attitude of the vessel 100 by comparing the first distance and the second distance.

For example, the first transmission unit 210 and the second transmission unit 220 respectively transmit radio signals at the same time, and the time when the first radio signal is received by the first reception unit 110 indicates that the second radio signal is transmitted to the second reception unit. If it is faster than the time received in 120, it means that the bow part of the ship 100 is closer to the pier 200 than the stern part, so the controller 130 controls the stern part to align the ship 100. A control signal may be generated to position the bow part to a position closer to the pier 200, and the control signal may be applied to the driving driving unit 160.

Conversely, if the time at which the second radio signal is received is earlier than the time at which the first radio wave is received, the controller 130 determines that the stern of the ship 100 is closer than the bow and determines that the bow of the ship 100 is closer to the stern. A control signal to be positioned on the same line as the part may be generated and applied to the driving driving unit 160 .

In addition, the controller 130 allows the ship 100 to reach the pier 200 through the first radio signal and the second radio signal received by the first receiver 110 and the second receiver 120, respectively, according to a predetermined cycle. You can check the speed at which you are entering.

In addition, the control unit 130 may determine the position of the ship 100 based on the first distance and the second distance determined through the first radio signal and the second radio signal.

The lidar sensor 140 according to an embodiment of the present invention transmits a laser signal toward the pier 200 and receives a reflection signal returned by reflecting the transmitted laser signal. For example, the lidar sensor 140 may transmit a laser signal in all directions, and may detect an object (including a pier) around the ship 100 using the received laser signal.

The controller 130 according to the present embodiment controls the distance between the lidar sensor 140 and the pier 200, and the ship 100 for the pier 200, based on the laser signal received by the lidar sensor 140. ) of the approach angle can be calculated.

According to a more specific embodiment, the controller 130 may 3D model an object sensed around the vessel 100 using the received laser signal. Accordingly, the controller 130 may calculate the distance between the ship 100 and the pier 200 and the approach angle of the ship 100.

As shown in FIG. 1, the ship berthing guidance system of the present invention may further include an ultrasonic sensor 150, and the ultrasonic sensor 150 transmits a sound wave signal toward the pier 200, and the transmitted The sound wave signal is reflected by the pier 200 and a reflected signal is received. For example, the ultrasonic sensor 150 of the present invention may be a sonar.

The ultrasonic sensor 150 of the present invention may be provided on the upper side of the ship 100 to transmit and receive sound wave signals on the water, and in another embodiment provided on the lower side of the ship 100 to transmit and receive sound wave signals in the water, , It may be provided in plurality to transmit and receive sound wave signals respectively on the water and in the water.

The controller 130 according to the present embodiment controls the distance between the ultrasonic sensor 150 and the pier 200 and the approach of the ship 100 to the position of the pier 200 through the reflected signal received by the ultrasonic sensor 150. angle can be calculated.

According to an embodiment of the present invention, the controller 130 uses the lidar sensor 140 or ultrasonic waves in an emergency situation in which the first and second receivers 110 and 120 do not operate due to radio interference, communication restrictions, failure, and the like. Although it may be implemented by using the sensor 150 to determine the location, speed, approach angle, attitude, etc. of the ship, according to another embodiment of the present invention, the first and second receivers 110 and 120 Determining the position, speed, approach angle, attitude, etc. of the vessel using all of the radio signal received through, the laser signal received from the lidar sensor 140, and the reflected signal received from the ultrasonic sensor 150 may be implemented as

Referring to Figure 2, the driving driving unit 160 of the present invention is a first side thruster (side thruster) 161 provided in the bow portion of the ship 100, the second provided in the stern portion of the ship 100 It may be configured to include a side thruster 163, a main screw 165 generating propulsion of the ship 100, and a rudder 167 controlling the running direction of the ship 100.

Referring to FIG. 1 , the input unit 170 according to an embodiment of the present invention may receive environment information around the pier 200 through communication with an external terminal or an external server. The environmental information may be information on at least one of wind direction, wind volume, and wave intensity around the pier 200, which is a berthing destination.

The control unit 130 further considers the environmental information input to the input unit 170 in addition to the determined position, posture, traveling speed, and approach angle of the ship 100 with respect to the pier 200, and uses a preset algorithm to A control signal to control the driving driving unit 160 may be generated. Here, the preset algorithm may be a collision avoidance algorithm, and may be implemented based on a collision avoidance algorithm using a known variable space search method.

In addition, the control unit 130 considers the determined location, attitude, driving speed, approach angle, and environmental information of the vessel 100 with respect to the pier 200, and determines the position of the vessel 100 for docking at the pier 200. An expected berthing path (hereinafter, a first berthing expected path) and a berthing speed may be determined.

According to one embodiment of the present invention, the control unit 130 converts the position of the pier 200, the determined position and posture of the ship 100 into coordinate information values, and input values to the artificial neural network for machine learning. can be entered as In addition, the control unit 130 may also input information on the traveling speed of the vessel 100, the approach angle, and environmental information (wind volume, wind direction, wave strength) as input values. For example, the artificial neural network of the present invention may perform machine learning with one of a K-Nearest Neighbor (KNN) algorithm and a Convolution Neural Network (CNN) algorithm.

The artificial neural network of the control unit 130 may output information about a learning berthing expected path (hereinafter, a second berthing expected path) of the ship 100 as machine learning is performed using the input values. Accordingly, the control unit 130 compares the first eyepiece expected path derived using the preset algorithm and the second expected path learned using the artificial neural network, and considers the difference between the two eyepiece expected paths, It is possible to determine whether or not to correct the first eyepiece expected path.

For example, the control unit 130 divides the coordinate points into a plurality of sections according to a predetermined interval among the entire sections of the first eyepiece expected path, and a plurality of coordinate points according to the predetermined interval among the entire sections of the second eyepiece expected path. When the difference between the coordinate points partitioned into sections of is greater than or equal to the threshold value, the first berthing expected path is corrected, and a control signal for controlling the driving of the ship 100 according to the corrected first berthing expected path can be generated. .

Conversely, the control unit 130 divides the coordinate points into a plurality of sections according to a predetermined interval among the entire sections of the first eyepiece expected path, and a plurality of coordinate points according to the predetermined interval among the entire sections of the second eyepiece expected path. When the difference between the coordinate points divided into sections of is less than the threshold value, the first berthing expected path is not corrected and the first berthing expected path derived according to the preset algorithm Control signal for controlling the ship 100 can create

The display unit 180 of the present invention displays the current position of the ship 100 determined by the controller 130, the distance to the pier 200, the attitude of the ship 100, and the berthing prediction finally determined by the controller 130. The route can be displayed on the screen and provided to the user.

The above description of the present invention is for illustrative purposes, and those skilled in the art can understand that it can be easily modified into other specific forms without changing the technical spirit or essential features of the present invention. will be. Therefore, the embodiments described above should be understood as illustrative in all respects and not limiting. For example, each component described as a single type may be implemented in a distributed manner, and similarly, components described as distributed may be implemented in a combined form.

The scope of the present invention is indicated by the following claims, and all changes or modifications derived from the meaning and scope of the claims and equivalent concepts should be interpreted as being included in the scope of the present invention.

Claims (9)

A first receiver installed at the bow of a ship to be docked and receiving a first radio signal of a first frequency band;
a second receiver installed at the stern of the ship and receiving a second radio signal in a second frequency range different from the first frequency range;
A state in which the ship is aligned by determining the distance to the destination and the attitude of the ship relative to the destination based on the first radio signal received by the first receiver or the second radio signal received by the second receiver A controller for generating a control signal for berthing to the destination;
a first transmitter installed at the destination and transmitting the first radio signal in the first frequency domain;
A second transmission unit installed at the destination and transmitting the second radio wave signal in the second frequency domain;
The control unit,
By comparing the distance between the first receiver and the first transmitter determined based on the first radio signal and the distance between the second receiver and the second transmitter determined based on the second radio signal, Determining the posture of the ship, determining the traveling speed of the ship approaching the destination based on the received first radio signal or the received second radio signal, and determining the location of the ship with respect to the destination;
Calculate a first berthing expected path using a collision avoidance algorithm based on the position, posture, traveling speed, and environmental information provided from the outside of the vessel,
The information on the position of the destination, the position of the ship, and the attitude of the ship is converted into coordinate information values, and a second berthing expected path is calculated by inputting the coordinate information values into an artificial neural network and machine learning,
The ship berthing guidance system, characterized in that for generating the control signal by comparing the first berthing expected path and the second berthing expected path.
delete delete delete According to claim 1,
Further comprising a lidar sensor installed in the ship, transmitting a laser signal toward the destination, and receiving a reflected signal returned by reflecting the transmitted laser signal,
The control unit,
A vessel berthing guidance system, characterized in that for calculating the distance to the destination and the approach angle of the vessel to the destination through the reflected signal received by the lidar sensor.
According to claim 1,
Further comprising an ultrasonic sensor installed in the ship, transmitting a sound wave signal toward the destination, and receiving a reflected signal returned by reflecting the transmitted sound wave signal,
The control unit,
The vessel berthing guidance system, characterized in that for calculating the distance to the destination and the approach angle of the vessel to the destination through the reflected signal received by the ultrasonic sensor.
According to claim 1,
Wherein the environmental information is information on at least one of wind direction, wind volume, and wave intensity around the destination.
According to claim 1,
The ship berthing guidance system further comprising a display unit for displaying the current position of the ship determined by the control unit, the distance to the destination, the attitude of the ship, and the expected berthing path on a screen.
According to claim 1,
A first side thruster installed at the bow of the ship to generate propulsion of the ship;
A second side thruster installed at the stern of the ship to generate propulsion of the ship;
Further comprising a rudder installed at the stern of the ship to control the running direction of the ship,
The first side thruster, the second side thruster, and the rudder are driven according to a control signal generated from the controller.

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