KR102542896B1 - Autonomous Boat, Autonomous System, And Method Of Controlling Autonomous System - Google Patents

Abstract

The present invention provides an autonomous boat, an autonomous system, and a control method for the autonomous system capable of organic autonomous driving by sharing state information with other autonomous boats traveling the same designated path directly or via a control server. The autonomous boat moves along a designated path including a plurality of waypoints. The autonomous boat comprises: a driving position sensor provided on the autonomous boat to measure the position; and an object position sensor provided in the autonomous boat to measure the position of an object.

Description

Autonomous Boat, Autonomous System, And Method Of Controlling Autonomous System}

The present invention relates to an autonomous boat, an autonomous driving system, and a control method of the autonomous driving system, and more particularly, an autonomous boat, an autonomous driving system, and an autonomous driving system that share state information with other boats moving along a designated route. It is about the control method of.

The concept of autonomous driving was proposed in the 1960s, and various researches and developments have been conducted in the fields of automobiles, aircraft, and ships. Autonomous driving requires little or no driver intervention, requiring more attention for safe driving.

On the other hand, viewing using a small boat in an amusement park such as a river or a lake is popular. If the ship is driven manually, the tourist must drive it himself or the driver must board it separately. This increases the risk of causing an accident due to inexperienced driving, and reduces boarding space in the case of small ships.

As an invention that introduces autonomous driving, an 'unmanned semi-submersible leisure boat' is disclosed in Prior Document No. 10-2163133. The prior literature discloses contents related to a leisure boat capable of operating safely unmanned even when various problems such as deviation from a route occur.

However, the leisure boat is difficult to apply when a plurality of boats are operated simultaneously. Therefore, it is necessary to prepare a method for efficiently operating a plurality of boats without safety accidents even when a plurality of boats are simultaneously operated.

Registration No. 10-2163133 Registered Patent Publication

In order to solve the above problems, the present invention provides an autonomous boat, an autonomous driving system, and autonomous driving capable of organic autonomous driving by sharing state information with other autonomous boats traveling on the same designated route directly or via a control server. Its purpose is to provide a system control method.

In order to achieve the above object, an autonomous boat according to an embodiment of the present invention is an autonomous boat moving along a designated route, comprising: a driving position sensor provided in the autonomous boat to measure a position; and an object position sensor provided in the autonomous boat to measure the position of an object, wherein the other self-driving vehicle moves along the designated path based on a signal of at least one of the driving position sensor and the target position sensor. It can drive while sharing status information with the boat.

In addition, the autonomous boat according to an embodiment of the present invention provides object information to at least one of the other autonomous boat and the control server when the distance between the autonomous boat and the object is within a first set distance, You can stop driving.

In addition, the autonomous boat according to an embodiment of the present invention provides object information to at least one of the other autonomous boat and the control server when the distance between the autonomous boat and the object is within a second set distance, It can be detoured along a temporary route.

In addition, in the self-driving boat according to an embodiment of the present invention, the designated route includes a plurality of waypoints, and after moving to within a third set distance based on the first waypoint, the autonomous boat moves to the second waypoint. You can move towards the point.

In addition, when the self-driving boat according to an embodiment of the present invention deviated from the fourth set distance based on the designated route, route deviation information is provided to at least one of the other self-driving boat and the control server, and the driving is stopped. can do.

In addition, the autonomous boat according to an embodiment of the present invention further includes a weight sensor for recognizing the weight of the occupant, and when the departure of the occupant is detected by the weight sensor, at least one of the other autonomous boats and the control server One can provide occupant departure information and stop driving.

On the other hand, an autonomous driving system according to an embodiment of the present invention, in an autonomous driving system in which a plurality of autonomous boats run in a cluster, includes: a first boat moving along a designated route; and a second boat moving ahead or behind the first boat along the designated path, and when the separation distance between the first boat and the obstacle is within a first set distance, the first boat and the second boat You can stop driving.

In addition, the autonomous navigation system according to an embodiment of the present invention, when the distance between the first boat and the obstacle is within the second set distance, the first boat and the second boat moving backward take a detour along the temporary route can do.

In addition, in the autonomous navigation system according to an embodiment of the present invention, when the first boat deviate from a fourth set distance based on the designated route, the first boat and the second boat may stop driving.

In addition, in the autonomous driving system according to an embodiment of the present invention, when the departure of the occupant from the first boat is detected, the first boat and the second boat may stop driving.

On the other hand, in the control method of the autonomous driving system according to an embodiment of the present invention, in the control method of the autonomous driving system for controlling a plurality of autonomous boats moving along a designated route, the control server, from the first boat, Receiving status information of one boat; and transmitting, by the control server, command information based on the state information to a second boat moving ahead or behind the first boat.

In addition, in the control method of the autonomous navigation system according to an embodiment of the present invention, the state information includes information that the distance between the first boat and the obstacle is within a first set distance, and the command information includes information indicating that the second boat may contain a stop command of

In addition, in the control method of the autonomous navigation system according to an embodiment of the present invention, the state information includes information that the distance between the first boat and the obstacle is within a second set distance, and the command information is Detour information of the second boat may be included.

In addition, in the control method of the autonomous driving system according to an embodiment of the present invention, the status information may include departure information of the designated route of the first boat, and the command information may include a stop command of the second boat. can

In addition, in the control method of an autonomous driving system according to an embodiment of the present invention, the state information may include departure information of the first boat of the occupant, and the command information may include a command to stop the second boat. .

In addition, the control method of the autonomous driving system according to an embodiment of the present invention may further include transmitting, by the control server, command information based on the state information to the first boat.

According to the present invention, the self-driving boat can share state information with other self-driving boats traveling on the same designated route directly or via a control server, thereby providing an effect enabling organic autonomous driving.

According to the present invention, by sharing state information such as approaching an obstacle, a plurality of self-driving boats can simultaneously stop driving and simultaneously take a detour along a temporary route to prevent an accident.

1 is a diagram showing an autonomous boat according to an embodiment of the present invention.
2 is a diagram showing a state in which a plurality of self-driving boats move along a designated path according to an embodiment of the present invention.
3 is a diagram illustrating a control method of an autonomous driving system when an obstacle is within a first set distance.
4 is a diagram illustrating information transmission of an autonomous driving system when an object is within a first set distance.
5 is a diagram illustrating information transmission of an autonomous driving system when an object is within a first set distance.
6 is a diagram illustrating a control method of an autonomous driving system when an obstacle is within a second set distance.
7 is a diagram illustrating information transfer and detouring of an autonomous driving system when an object is within a second set distance.
8 is a diagram illustrating information transmission and detouring of an autonomous driving system when an object is within a second set distance.
9 is a diagram showing a third set distance recognized as passing a waypoint by an autonomous boat.
10 is a diagram illustrating a control method of an autonomous driving system when an autonomous boat is out of a fourth set distance.
11 is a diagram illustrating information transmission of an autonomous navigation system when an autonomous boat deviate from a fourth set distance.
12 is a diagram illustrating a control method of an autonomous driving system when a passenger leaves an autonomous boat.
13 is a diagram illustrating a control method of an autonomous driving system when a passenger leaves an autonomous boat.

A person skilled in the art can develop various devices that embody the principles of the invention and fall within the concept and scope of the invention, even though not explicitly described or shown herein. In addition, all conditional terms and examples listed in this specification are, in principle, expressly intended only for the purpose of making the concept of the invention understood, and should be understood as not being limited to such specifically listed examples and conditions.

The above objects, features and advantages will become more apparent through the following detailed description of the invention in conjunction with the accompanying drawings, and accordingly, those skilled in the art to which the invention belongs will be able to easily implement the technical idea of the invention.

Embodiments described herein will be described with reference to ideal drawings of the present invention. The shape of the illustrative drawings may be modified due to manufacturing techniques and/or tolerances. Therefore, embodiments of the present invention are not limited to the specific shapes shown, but also include changes in shapes generated according to manufacturing processes.

While describing various embodiments, the same names and the same reference numbers will be given to components performing the same functions even if the embodiments are different. Furthermore, configurations and operations already described in other embodiments will be omitted for convenience.

On the other hand, the expression 'at least one of A, B and C' means that it is composed of one, two or three of A, B and C, and the expression 'at least one D' means that D is one or more. In addition, expressions such as 'first' and 'second' are for describing a plurality of configurations, and do not necessarily refer to a specific target.

First, a configuration of an autonomous boat (hereinafter referred to as 'autonomous boat') according to an embodiment of the present invention will be described.

1 is a diagram showing an autonomous boat 10 according to an embodiment of the present invention.

Referring to FIG. 1 , an autonomous boat 10 includes a propulsion unit 100 including a first hull 110 and a second hull 120 opposite to the first hull 110, and a propulsion unit 100 ) may include a boarding unit 300 coupled to.

The propulsion unit 100 may include a first hull 110 and a second hull 120 facing at a distance from the first hull 110 in a shape symmetrical to the first hull 110, A support part 200 provided between the first hull 110 and the second hull 120 may be further included.

The first hull 110 may include a battery (not shown), a motor (not shown), and a propeller (not shown). The first hull 110 may provide thrust to the autonomous boat 10 through a propeller that rotates forward or backward by a motor. The motor may be configured as a BLDC motor, but is not limited thereto.

The first hull 110 may be rotated in place by a control unit (not shown).

Unlike FIG. 1, the first hull 110 may be formed in a form in which the width decreases from the rear to the front. Accordingly, the first hull 110 may have a relatively sharper shape than the end of the front side than the end of the rear side. The first hull 110 can move forward more efficiently due to the pointed shape of the end when moving forward. However, the shape of the first hull 110 is not limited to the pointed shape described above.

The battery may be composed of at least one of a lead acid battery and a lithium battery, but is not limited thereto.

The battery is provided inside the first hull 110 and may be provided in a state in which contact with water is prevented through the battery pack waterproofing technology. Therefore, the battery can be stably used as it is prevented from corrosion and failure due to water ingress.

The self-driving boat 10 may include a battery in a sealed structure, but may include an aluminum heat sink to solve a heating problem. The aluminum heat sink is plated and has excellent corrosion resistance. The self-driving boat 10 can operate more safely by combining a battery with an aluminum heat sink and providing a sealed structure.

The first hull 110 is made of FRP (Fiber Reinforced Plastics) or carbon material and may be manufactured through vacuum forming technology. Therefore, the first hull 110 can travel with a relatively low weight. However, the first hull 110 is not necessarily limited to the above-described material.

The second hull 120 may face the first hull 110 at a distance apart in the width direction.

The second hull 120 may be formed in a shape symmetrical to the first hull 110. Therefore, the second hull 120 may have a relatively sharper shape at the front end than at the rear end. The self-driving boat 10 may have a propulsion unit 100 having a catamaran structure through the first hull 110 and the second hull 120 facing each other. However, the shape of the second hull 120 is not limited to the pointed shape described above.

The second hull 120 may include a battery, a motor, and a propeller. Same as the first hull (110). The second hull 120 provides thrust to the self-driving boat 10 along with the first hull 110 through a propeller that rotates forward or backward by a motor. The second hull 120 may be able to rotate in place through a control unit.

The support part 200 may be provided between the first hull 110 and the second hull 120. The support part 200 may be provided between the first hull 110 and the second hull 120 in the form of coupling one end to the first hull 110 and coupling the other end to the second hull 120. there is. Accordingly, the region of the middle portion existing between one end and the other end of the support part 200 may be located at a distance between the first hull 110 and the second hull 120. The support part 200 may provide an area for supporting and coupling the boarding part 300 through an area of the middle part.

The boarding unit 300 may have a space for accommodating passengers therein. The boarding unit 300 may have a cylindrical shape, but is not limited thereto. The boarding unit 300 may be coupled to an upper portion of the support unit 200 and supported through an upper surface of the support unit 200 .

The self-driving boat 10 can increase passenger convenience by providing Bluetooth audio and a chair seat cushion inside the boarding unit 300 . In addition, the self-driving boat 10 may have a window made of a transparent material in the boarding unit 300 .

The self-driving boat 10 may include a steering wheel on the boarding unit 300 to enable direction movement of the vessel. Accordingly, the self-driving boat 10 may be driven by manual driving in addition to autonomous driving.

The autonomous boat 10 may include a lighting unit 400 coupled to the boarding unit 300 . The lighting unit 400 may be made of an LED, but is not limited thereto.

The lighting unit 400 may be located above the boarding unit 300, but is not necessarily limited to the upper position. The lighting unit 400 may generate light of various colors. The lighting unit 400 may be provided inside a waterproof cover to have a waterproof structure. The waterproof structure of the lighting unit 400 is not limited thereto.

The lighting unit 400 may be provided to rotate 360 degrees in all directions or rotate within a preset rotation range. Alternatively, the lighting unit 400 may be provided in a bar shape and may be provided in a wire arrangement structure outside or inside the boarding unit 300 .

The self-driving boat 10 may facilitate positioning with the naked eye even at a relatively long distance by including the lighting unit 400 .

The autonomous boat 10 may include a water fountain 500 coupled to the boarding unit 300 . The water fountain 500 may be located above the boarding unit 300 . The location of the water fountain 500 is not limited to the upper portion. The autonomous boat 10 may include a water fountain 500 above or below the lighting unit 400 .

The water fountain 500 may be provided to rotate 360 degrees in all directions or rotate within a preset rotation range.

The water fountain 500 may include a spray nozzle spraying water. The water fountain 500 functions to spray water to the outside of the boarding unit 300 through a spray nozzle. The water fountain 500 may form a water film phenomenon on the outside of the boarding unit 300 through a predetermined pressure and discharge amount.

The autonomous boat 10 may include a water pump. The water pump may be connected to the fountain unit 500 to supply water to the fountain unit 500 .

The autonomous boat 10 may selectively perform functions of the lighting unit 400 and the fountain unit 500 according to input signals.

The autonomous boat 10 may include a function selection unit inside the boarding unit 300 . The function selection unit may include a switch for turning ON/OFF the operation of the lighting unit 400 and the water fountain unit 500 .

The self-driving boat 10 receives a signal (operation signal) input by a passenger to the function selection unit through the control unit, and controls the operation of the lighting unit 400 and the fountain unit 500 according to the signal input through the control unit. can do.

The self-driving boat 10 may autonomously navigate according to pre-stored self-driving information. Specifically, the self-driving boat 10 may include a data storage unit storing self-driving information and a controller that controls the propulsion unit 100 according to the self-driving information. The control unit may implement autonomous driving of the autonomous boat 10 according to autonomous driving information pre-stored in the data storage unit. The autonomous driving information may include a designated route.

The autonomous boat 10 may include a driving position sensor. Specifically, the driving position sensor may be composed of RTK GPS. The control unit may implement autonomous driving according to autonomous driving information by measuring the position of the autonomous boat 10 through the driving position sensor. However, the driving position sensor is not necessarily limited to the RTK GPS.

The control unit controls the moving directions of the first hull 110 and the second hull 120 by forward rotation, reverse rotation, or rotation of the propellers of the second hull 120, thereby autonomously traveling boats ( 10) can control the movement direction. The control unit can maintain and control the straightness of the first hull 110 and the second hull 120 when controlling the first hull 110 and the second hull 120.

The autonomous boat 10 may autonomously navigate according to newly designated autonomous driving information. The autonomous boat 10 may include a route input unit in the boarding unit 300 . When a starting point and a destination are input to the route input unit, the autonomous boat 10 may autonomously travel according to the newly designated autonomous driving information.

The control unit may configure autonomous driving information according to the starting point and the destination by receiving the location of the starting point and the ending point from the route input unit. Accordingly, the self-driving boat 10 can autonomously travel with the self-driving information newly designated by the control unit.

Upon receiving the location of the starting point and the location of the destination from the route input unit, the control unit can configure autonomous driving information as one of the shortest time path between the starting point and the destination location, the shortest distance route, and a route including a designated waypoint. Here, the route including the designated waypoint includes at least one tourist attraction as the designated waypoint. When a route including a designated waypoint is selected, the self-driving boat 10 may autonomously travel to locations of a plurality of tourist attractions in the shortest time or shortest distance.

The self-driving boat 10 can autonomously navigate while preventing collision.

Specifically, the autonomous boat 10 may include the target position sensor 600 . Here, the target position sensor 600 may be provided in plurality, and each of the target position sensors 600 includes an ultrasonic sensor 610, a radar sensor 620, a lidar sensor (not shown, a lidar sensor), and It may be composed of at least one of cameras (not shown).

The ultrasonic sensor 610 may detect an object 40 present at a relatively short distance. Here, the object 40 is a concept including obstacles, other self-driving boats 20 and other ships, and means all external objects that may collide with the self-driving boat 10 .

The radar sensor 620 and the lidar sensor may detect an object 40 present at a relatively long distance. The camera can take pictures of the surroundings during autonomous driving.

The ultrasonic sensor 610 may be provided on the side of the autonomous boat 10 . At least one ultrasonic sensor 610 may be provided to detect an object 40 present relatively close to the autonomous boat 10 based on the position of the autonomous boat 10 . The ultrasonic sensor 610 may be provided on the first hull 110 and/or the second hull 120 to detect an obstacle present at a relatively short distance.

The autonomous boat 10 may include ultrasonic sensors 610 on the first hull 110 and the second hull 120 . The ultrasonic sensor 610 may be provided on the inside of the first hull 110 and the second hull 120, and may be provided on the outside.

When the ultrasonic sensor 610 is provided inside the first hull 110 and the second hull 120, the first hull 110 and the second hull 120 determine the position provided with the ultrasonic sensor 610. It may be made of a transparent material so that the ultrasonic sensor is exposed through the transparent material.

Unlike this, when the ultrasonic sensor 610 is provided on the outside of the first hull 110 and the second hull 120, a waterproof cover is provided on the outside of the ultrasonic sensor 610 so that the ultrasonic sensor 610 and the water contact can be prevented.

The ultrasonic sensor 610 may obtain object information by detecting the object 40 on the side of the autonomous boat 10 . The object information may include at least one of shape information of the object 40 , distance information between the object 40 and the autonomous boat 10 , and direction information of the object 40 .

The control unit controls the moving direction and path of the autonomous boat 10 through object information acquired through the ultrasonic sensor 610 to prevent collision between the autonomous boat 10 and the object 40 existing in the vicinity thereof. can do.

In addition, the control unit may include an emergency stop function. When an obstacle exists in a short distance of the autonomous boat 10, it may be difficult to control the moving direction and path. At this time, the controller may stop the autonomous driving of the autonomous boat 10 through an emergency stop function.

The radar sensor 620 and the lidar sensor may detect an object 40 existing at a relatively long distance based on the position of the autonomous boat 10 . The radar sensor 620 may be provided on at least one of the first hull 110 and the second hull 120 .

The radar sensor 620 may be replaced with a lidar sensor, and the radar sensor 620 and the lidar sensor may be provided at the same time. Hereinafter, a description of the lidar sensor is the same as that of the radar sensor 620, so it will be omitted.

The radar sensor 620 may be provided inside or outside the first hull 110 and the second hull 120 . When the radar sensor 620 is provided inside the first hull 110 and the second hull 120, the first hull 110 and the second hull 120 determine the position provided with the radar sensor 620. It may be provided with a transparent material to expose the radar sensor 620 through the transparent material.

Unlike this, when the radar sensor 620 is provided on the outside of the first hull 110 and the second hull 120, a waterproof cover is provided on the outside of the radar sensor 620 so that the radar sensor 620 and the water contact can be prevented.

The radar sensor 620 may rotate 360 degrees to sense all directions, or rotate at a predetermined angle to sense only a specific range. A sensing range of the radar sensor 620 may be formed differently according to a rotation angle of the radar sensor 620 .

The radar sensor 620 may obtain object information by detecting the object 40 present in a detection range. The control unit may prevent a collision with an obstacle in advance by controlling the moving direction and path of the autonomous boat 10 through object information in advance. As a result, safer autonomous driving can be achieved.

The camera may capture images around the autonomous boat 10 during autonomous driving. The camera may obtain an image of the surroundings of the autonomous boat 10 and provide the obtained image to the control unit and the data storage unit. The surrounding image information may include an image of the object 40 with a risk of collision.

The camera may be provided to be rotatable in all directions of 360 degrees and may be provided to be rotatable within a preset rotation angle range. A camera shooting range may be formed according to a rotation angle range of the camera. The camera may be controlled by the controller to always operate or operate only during autonomous driving.

The autonomous boat 10 may include an object position sensor 600 . Among the object position sensors 600, the ultrasonic sensor 610 is located on the side of the autonomous boat 10 and can detect an object 40 approaching from the side. In addition, among the object location sensors 600, the radar sensor 620 or the lidar sensor may be located in front and rear of the autonomous boat 10 to detect an approaching object 40 from the front and rear.

The object position sensor 600 can detect the object 40 that has entered each sensing range and provide object information to the controller. Subsequently, the controller determines whether an object 40 exists within a predetermined specific distance based on object information. The predetermined specific distance may be described as a first set distance r1 to a fourth set distance h4, which will be described later.

When the distance included in the object information received from the object position sensor 600 is closer than a preset specific distance, the controller controls the direction of movement of the propulsion unit 100 including the first hull 110 and the second hull 120. can confirm.

When the direction of the propulsion unit 100 of the autonomous boat 10 is directed toward the object 40, the control unit may calculate the possibility of collision through an algorithm for calculating the possibility of collision with the object 40.

Subsequently, when the possibility of collision is greater than or equal to a predetermined probability, the control unit may calculate the speed of the autonomous boat 10 and the distance to the object 40 .

Then, in the process of performing the collision avoidance function, the self-driving boat 10 does not have a distance included in the object information within a specific distance value, or the moving direction of the self-driving boat 10 does not face the object 40. , If the probability of collision is less than the preset probability, it may return to the first step. Specifically, the object position sensor 600 may detect the object 40 that has entered each detection range and return to the step of providing object information to the controller.

The controller may store blind spot information in the data storage unit. The self-driving boat 10 may autonomously navigate based on autonomous driving information and blind spot information. In other words, when the control unit controls the first hull 110 and the second hull 120, the first hull 110 and the second hull 110 and the second hull 110 are controlled based on autonomous driving information and blind spot information including a designated route and/or a temporary route. The movement direction of the two hulls 120 can be controlled.

Due to this, the self-driving boat 10 can prevent a safety accident due to a collision occurring in a blind spot. The controller may display a blind spot warning notification on the boarding unit 300 when the autonomous boat 10 is located near a blind spot based on a driving position sensor (not shown) and blind spot information. In this case, a warning notification unit (not shown) may be provided in the boarding unit 300 . The warning notification unit may be configured as a display or a speaker, but is not necessarily limited thereto.

The autonomous boat 10 may include a communication unit (not shown). The autonomous boat 10 may communicate with an external monitoring system through a communication unit. The external monitoring system is provided in the form of a Webapp and can be implemented in a control server 30 such as a PC or mobile device.

The autonomous boat 10 may transmit state information acquired through the driving position sensor and the target position sensor 600 to an external monitoring system through a communication unit.

Here, the state information may include object information including at least one of shape information of the object 40, distance information between the object 40 and the autonomous boat 10, and direction information of the object 40. In addition, the state information may include all information acquired through the driving position sensor and the target position sensor 600 . Furthermore, the state information may include the position, speed, hull motion, and battery state of the autonomous boat 10, and the state information may include route departure information and occupant departure information, which will be described later.

For example, the autonomous boat 10 may provide status information to an external monitoring system and/or other autonomous boats 20 through a communication unit.

The autonomous boat 10 may be remotely controlled by an external monitoring system. Remote control may be achieved through command information. That is, the self-driving boat 10 may be controlled to autonomously navigate by an external monitoring system.

The autonomous boat 10 may receive water environment information through a communication unit. The communication unit may interwork with the control unit. The control unit may stop the self-driving boat 10 at a specific location based on water environment information obtained from the communication unit. The control unit may maintain the autonomous boat 10 in a stopped state at a specific position through a function of maintaining a stopped position.

Next, the self-driving boat 10 moving along the designated path, the self-driving system 50, and the control method of the self-driving system will be described.

2 is a diagram showing a state in which a plurality of autonomous boats 10 move along a designated path according to an embodiment of the present invention.

Referring to FIG. 2 , the autonomous boat 10 may move along a designated route. In addition, the autonomous boat 10 includes a driving position sensor provided in the autonomous boat 10 to measure a position; and an object position sensor 600 provided in the self-driving boat 10 to measure the position of the object 40 . In addition, the autonomous boat 10 shares state information with other autonomous boats 20 moving along the designated route based on a signal of at least one of the driving position sensor and the target position sensor 600. can drive

The designated route means a path along which the autonomous boat 10 moves, and may be designated before departure of the autonomous boat 10 or may be changed and designated after departure.

As shown in FIG. 2, a designated route may include a plurality of waypoints. For example, each of the plurality of waypoints may include a start point SP and first waypoints WP1 to sixth waypoints WP6, and may further include an end point EP. The designated route may include more waypoints than the above, and may include fewer waypoints, but the number is not limited.

Assignment paths can be either closed or open. The self-driving boat 10 may circularly travel along a designated route of a closed structure and may perform non-circular driving along a designated route of an open structure.

The designated route may change while driving. The designated route may be changed in real time according to the state of the autonomous boat 10 and/or the water environment. In addition, the designated route may further include a temporary route so that the self-driving boat 10 can detour.

The self-driving boat 10 may move along a designated route by sequentially arriving at a plurality of waypoints. Specifically, after arriving at the first waypoint, the autonomous boat 10 may move toward the second waypoint.

Here, arrival means that the autonomous boat 10 is located within the third set distance r3 based on the waypoint. In this regard, it will be described later.

The autonomous boat 10 may include a driving position sensor (not shown). The driving position sensor may acquire the real-time position of the autonomous boat 10 that is driving. The autonomous boat 10 may transmit the real-time location information to other autonomous boats 20 and/or the control server 30 through a communication unit.

The autonomous boat 10 may include a target position sensor 600 . The object position sensor 600 may acquire the location and distance of the object 40 based on the self-driving boat 10 . Here, the object 40 means an obstacle, another self-driving boat 20 and other ships.

Calculation of the first to fourth set distances, which will be described later, can be performed based on the positions of each component obtained from the driving position sensor and the target position sensor.

As described above, the target position sensor 600 may be composed of at least one of an ultrasonic sensor 610, a radar sensor 620, a LIDAR sensor (not shown), and a camera (not shown). The self-driving boat 10 may include target position sensors 600 on the side, front, and rear surfaces. Specifically, the self-driving boat 10 may be provided with the target position sensor 600 to sense the side, front, and rear.

Preferably, the self-driving boat 10 may be equipped with ultrasonic sensors 610 on the side to detect the side, and radar sensors 620 on the front and rear to detect the front and rear and / or A lidar sensor may be provided.

Specifically, the ultrasonic sensor 610 may be provided on the side of the autonomous boat 10 to detect the sides of the first hull 110 and the second hull 120 . In addition, the radar sensor 620 and / or lidar sensor may be provided on the front and rear surfaces of the first hull 110 and the second hull 120 to detect the front and rear. However, the ultrasonic sensor 610, the radar sensor 620, and the LIDAR sensor are not limited to being provided at the above-described positions, and the position of the camera is not limited either.

The autonomous boat 10 may generate or obtain state information from the driving position sensor and/or the target position sensor 600 . That is, the autonomous boat 10 may obtain location information of the autonomous boat 10 from the driving position sensor and obtain speed information. The autonomous boat 10 may obtain location information of the object 40 from the object position sensor 600 and obtain speed information.

The self-driving boat 10 may move along a designated route together with other autonomous boats 20 . Here, the other self-driving boat 20 means a boat that precedes or follows the self-driving boat 10 . That is, the plurality of self-driving boats 10 may move on the same designated route in different order. The autonomous boat 10 may provide status information to other autonomous boats 20 .

Here, that the self-driving boat 10 provides status information to other self-driving boats 20 means that it directly provides the status information to other self-driving boats 20, and indirectly through the control server 30 to other self-driving boats. (20) includes that provided.

The self-driving boat 10 can stop or take a detour by grasping object information, including the existence of the object 40 and the location of the object 40, and transfer the object information to other autonomous boats 20 and/or Alternatively, it may be provided to the control server 30.

In this way, the self-driving boat 10 can prevent a collision with the object 40, and the collision of another autonomous boat 20 with the object 40 can be prevented. Furthermore, the control server 30 may monitor the conditions of the plurality of autonomous boats 10 .

The first boat 10 described below may be an autonomous boat 10, and the second boat 20 may be another autonomous boat 20.

An autonomous driving system (hereinafter referred to as 'autonomous driving system') according to an embodiment of the present invention may include a first boat 10 and a second boat 20 .

Furthermore, a control method (hereinafter referred to as 'control method') of an autonomous navigation system according to an embodiment of the present invention may control a plurality of autonomous boats 10 moving along a designated route.

The control method includes receiving, by the control server 30, state information of the first boat 10 from the first boat 10; and transmitting, by the control server 30, command information based on the status information to the second boat 20 moving ahead or behind the first boat 10.

Here, the distinction between the first boat 10 and the second boat 20 is for convenience of description, and the first boat 10 means a subject that recognizes the object 40 and generates and transmits state information, , The second boat 20 means a subject that receives state information from the first boat 10.

The control server 30 may implement an external monitoring system. As described above, the external monitoring system can be implemented in the form of a Webapp. In addition, the control server 30 may be a computing device such as a smart phone, tablet, and desktop, but is not limited thereto.

First, a step in which the control server 30 receives state information of the first boat 10 from the first boat 10 may be performed.

The first boat 10 may acquire the position of the first boat 10 through a driving position sensor. In addition, the first boat 10 may acquire the position of the object 40 and/or the distance between the first boat 10 and the object 40 through the object position sensor 600 .

As a result, the first boat 10 can generate state information including object information and transmit the state information to the control server 30 . The control server 30 may monitor the first boat 10 by receiving state information.

Subsequently, the control server 30 may transmit command information based on the status information to the second boat 20 moving ahead or behind the first boat 10 . Optionally, the control server 30 may also transmit command information based on the status information to the first boat 10 .

In principle, the first boat 10 and the second boat 20 can move along the same designated path. At this time, the second boat 20 may mean a boat that precedes the first boat 10 and may mean a boat that follows the first boat 10 . It may be provided with a plurality of second boats 20, some of the second boats 20 precede the first boat 10, and the rest of the second boats 20 follow the first boat 10 can do.

The control server 30 may monitor the first boat 10 through status information received from the first boat 10 . Thereafter, the control server 30 may transmit status information and/or command information based on the status information to the second boat 20 . At this time, the second boat 20 may be a boat that precedes the first boat 10, and may be a boat that follows the first boat 10. In addition, there may be a plurality of second boats 20 , and the plurality of second boats 20 may be boats that precede and follow the first boat 10 , respectively.

The second boat 20 may receive command information from the control server 30 . The second boat 20 may stop through command information or take a detour along a temporary route. Furthermore, the first boat 10 may also receive command information from the control server 30 . The first boat 10 may stop through command information or take a detour along a temporary route.

Alternatively, even before the first boat 10 transmits status information to the control server 30, it may stop itself or take a detour along a temporary route. In this case, the control server 30 may transmit command information only to the second boat 20 so that the second boat 20 stops or takes a detour along a temporary route.

As a result, the first boat 10 detects the risk of collision through the object 40, directly transmits state information to the second boat 20, or indirectly through the control server 30, the second boat 20 ) to transmit status information and / or command information so that the second boat 20 can prepare for the risk of collision. Therefore, it is possible to promote safe operation by sharing state information with each other with respect to the plurality of autonomous boats 10 and 20 including the first boat 10 and the second boat 20 .

Next, a method for the autonomous boat 10 to share state information including object information related to the first set distance r1 with another autonomous boat 20 will be described.

3 is a diagram illustrating a control method of an autonomous driving system when an obstacle is within a first set distance r1. FIG. 4 is a diagram illustrating information transmission of the autonomous driving system 50 when an object 40 is within a first set distance r1. 5 is a diagram illustrating information transfer of the autonomous driving system 50 when an object 40 is within a first set distance r1.

3 to 5, when the distance between the self-driving boat 10 and the object 40 is within the first set distance r1, the self-driving boat 10 is the other self-driving boat 20 ) And the object information is provided to at least one of the control server 30, and driving may be stopped.

Meanwhile, in the autonomous driving system 50, a plurality of autonomous boats 10 may perform group operation. In addition, the autonomous driving system 50 includes a first boat 10 moving along a designated route; And it may include a second boat 20 that moves ahead or behind the first boat 10 along the designated path. In addition, when the separation distance between the first boat 10 and the obstacle is within the first set distance r1, the first boat 10 and the second boat 20 may stop driving.

On the other hand, referring to FIG. 3, the control method includes the steps of the control server 30 receiving state information of the first boat 10 from the first boat 10; and transmitting, by the control server 30, command information based on the status information to the second boat 20 moving ahead or behind the first boat 10, wherein the control server (30) transmitting command information based on the state information to the first boat 10, wherein the state information indicates that the distance between the first boat 10 and the obstacle is It may include information within 1 set distance (r1), and the command information may include a command to stop the second boat 20.

Here, since the autonomous boat 10 is the same as the first boat 10 and the other autonomous boat 20 is the same as the second boat 20, the first boat 10 and the second boat 20 unified and explained.

Referring to FIG. 4, the first boat 10 can detect the object 40, and the control server when the separation distance between the first boat 10 and the object 40 is within the first set distance r1. (30) can provide status information. In addition, the first boat 10 may stop or take a detour along a temporary route.

Thereafter, the control server 30 may again provide command information to the first boat 10 and/or the second boat 20 (leading and/or trailing), and the first boat 10 and/or the second boat 20 The two boats 20 may stop based on command information or take a detour along a temporary route.

Here, the state information may include object information such as the position of the object 40 and the separation distance between the first boat 10 and the object 40. The first set distance r1 may be arbitrarily set. The first set distance r1 is not an emergency situation, but means a distance at which a collision is likely.

In addition, referring to FIG. 5, when the first boat 10 can detect the object 40, the separation distance between the first boat 10 and the object 40 is within the first set distance r1. Status information may be provided to the second boat 20 (leading and/or following). In addition, the first boat 10 may stop or take a detour along a temporary route.

Thereafter, the second boat 20 may stop based on the state information or take a detour along a temporary route.

When the first boat 10 provides state information to the second boat 20, the second boat 20 can recognize the state of the first boat 10 and stop or take a detour along a temporary route. As the first boat 10 provides status information to the control server 30, the control server 30 recognizes the state and water situation of the first boat 10 and controls the first boat 10 and/or the second boat 10. Command information including a stop command or a detour command may be transmitted to the boat 20 . Accordingly, a plurality of self-driving boats 10 can be collectively operated according to underwater conditions.

That is, when the separation distance between the first boat 10 and the obstacle is within the first set distance r1, the first boat 10 and at least one second boat 20 may stop driving. As such, even if an accident risk occurs in one of the plurality of autonomous boats 10 traveling on the same designated route, the autonomous driving system 50 propagates the risk of an accident to the preceding or following autonomous boat 10 to cause additional accidents. can even be prevented.

Next, a method for the autonomous boat 10 to share state information including object information related to the second set distance r2 with another autonomous boat 20 will be described.

6 is a diagram illustrating a control method of an autonomous driving system when an obstacle is within a second set distance r2. FIG. 7 is a diagram illustrating information transmission and detouring of the autonomous driving system 50 when an object 40 is within a second set distance r2. 8 is a diagram illustrating information transmission and detouring of the autonomous driving system 50 when the object 40 is within the second set distance r2.

6 to 8, when the distance between the self-driving boat 10 and the object 40 is within the second set distance r2, the self-driving boat 10 is the other self-driving boat 20 ) and the control server 30, providing object information to at least one, and detouring along a temporary route.

On the other hand, the autonomous navigation system 50 operates when the distance between the first boat 10 and the obstacle is within the second set distance r2, the first boat 10 and the second boat 20 moving backward. ) can be bypassed along the temporary route.

On the other hand, referring to FIG. 6, the control method includes the steps of the control server 30 receiving state information of the first boat 10 from the first boat 10; and transmitting, by the control server 30, command information based on the status information to the second boat 20 moving ahead or behind the first boat 10, wherein the control server (30) transmitting command information based on the state information to the first boat 10, wherein the state information indicates that the distance between the first boat 10 and the obstacle is 2 includes information within a set distance (r2), and the command information may include detour information of the second boat 20 moving backward.

Referring to FIG. 7, the first boat 10 can detect the object 40, and the control server when the separation distance between the first boat 10 and the object 40 is within the second set distance r2. (30) can provide status information. In addition, the first boat 10 may detour or stop along the temporary route.

Thereafter, the control server 30 may provide command information to the first boat 10 and/or the second boat 20 again, and the first boat 10 and/or the second boat 20 may receive the command Based on the information, detours or stops can be made along temporary routes.

Here, the state information may include object information such as the position of the object 40 and the separation distance between the first boat 10 and the object 40. The second set distance r2 may be arbitrarily set. The second set distance r2 means a distance that is more likely to collide with an emergency situation than the first set distance r1. However, the first set distance r1 and the second set distance r2 are not necessarily classified according to the possibility of collision.

The first set distance r1 may be larger or smaller than the second set distance r2. In addition, when the object 40 is within the first set distance (r1), the first boat 10 and / or the second boat 20 stops, and the object 40 is within the second set distance (r2). When the first boat 10 and / or the second boat 20 can bypass. Unlike this, when the object 40 is within the first set distance (r1), the first boat 10 and/or the second boat 20 detour, and the object 40 is within the second set distance (r2). When present, the first boat 10 and/or the second boat 20 may stop. That is, the first set distance (r1), the second set distance (r2), and whether to stop or bypass the first boat 10 and the second boat 20 may be set differently according to circumstances.

In addition, referring to FIG. 8, when the first boat 10 can detect the object 40 and the distance between the first boat 10 and the object 40 is within the second set distance r2. Status information may be provided to the second boat 20 . In addition, the first boat 10 may detour or stop along the temporary route.

Then, the second boat 20 may detour or stop along the temporary route based on the state information.

In particular, when the separation distance from the object 40 based on the first boat 10 is within the second set distance r2, the first boat 10 may detour. At this time, the first boat 10 may transmit status information only to the following second boat 20 . In addition, the control server 30 may transmit command information including a detour command only to the second boat 20 following the first boat 10 .

That is, when the first boat 10 needs to take a detour according to the approach of the object 40, the second boat 20 preceding the first boat 10 that has already passed the corresponding area needs to take a detour. Since there will be no, state information is provided only to the second boat 20 following the first boat 10, or a bypass command is provided.

The first boat 10 may travel along a designated route. At this time, the designated path may be stored in the data storage unit. When the first boat 10 detours, the control unit may create a temporary route. That is, the specified path may be changed including the temporary path.

Referring back to FIG. 7 , the designated path may include a temporary path, and the temporary path may include at least one temporary point. In addition, in principle, the designated path of the first boat 10 and the second boat 20 may be the same.

However, when the first boat 10 and/or the second boat 20 detour, the first boat 10 and/or the second boat 20 include each temporary route in each designated route, thereby , may have different specified paths.

The first boat 10 may create a temporary route by replacing the second waypoint WP2 with the second temporary point TP2. At this time, the temporary path may include the second temporary point TP2. The first boat 10 may head to the second temporary point TP2 instead of the second waypoint WP2, and may head to the third waypoint WP3 again after arriving at the second temporary point TP2.

Unlike FIG. 7 , the first boat 10 may create a temporary route further including a third temporary point. That is, the temporary route includes a plurality of temporary points according to the number, size, speed, etc. of the objects 40, allowing the first boat 10 to make a larger detour.

Still referring to FIG. 7 , the second boat 20 may create a temporary route by replacing the first waypoint WP1 with the first temporary point TP1. At this time, the temporary path may include the first temporary point TP1. The second boat 20 may head to the first temporary point TP1 instead of the first waypoint WP1, and may head to the third waypoint WP3 again after arriving at the first temporary point TP1.

The first boat 10 and the second boat 20 may create different temporary routes and temporarily move to different specified routes.

The first boat 10 may directly generate a temporary route through the control unit, but may also receive command information including a temporary route generated by the control server and a detour command. In this way, the first boat 10 may change the specified route by adding a temporary route, and may store it in the data storage unit. The second boat 20 is also like this.

As described above, when the first boat 10 provides status information to the second boat 20, the second boat 20 recognizes the status of the first boat 10 and takes a detour along a temporary route, can stop As the first boat 10 provides status information to the control server 30, the control server 30 recognizes the state and water situation of the first boat 10 and controls the first boat 10 and/or the second boat 10. Command information including a detour command or a stop command may be transmitted to the boat 20 . Accordingly, a plurality of self-driving boats 10 can be collectively operated according to underwater conditions.

That is, when the separation distance between the first boat 10 and the obstacle is within the second set distance r2, the first boat 10 and at least one second boat 20 may detour along the temporary route . As such, even if an accident risk occurs in one of the plurality of autonomous boats 10 traveling on the same designated route, the autonomous driving system 50 propagates the risk of an accident to the preceding or following autonomous boat 10 to cause additional accidents. can even be prevented.

Next, a third set distance r3 for recognizing that the autonomous boat 10 has arrived at the waypoint will be examined.

9 is a diagram showing a third set distance r3 recognized as having passed the waypoint by the autonomous boat 10 .

Referring to FIG. 9 , the designated route may include a plurality of waypoints, and the self-driving boat 10 moves to within a third set distance r3 based on the first waypoint WP1, and then moves to the first waypoint WP1. You can move towards the 2 waypoint (WP2).

A designated route may include a plurality of waypoints. By sequentially arriving at a plurality of waypoints, the self-driving boat 10 can completely drive a designated route.

After arriving at a specific waypoint, the self-driving boat 10 may completely drive a designated route by repeating a process toward the next waypoint. The position of the autonomous boat 10 may be measured in real time by a driving position sensor.

When the autonomous boat 10 is located within the third set distance r3 from the waypoint, it may recognize that it has arrived at the corresponding waypoint. The third set distance r3 may be arbitrarily set and may be changed as needed.

According to FIG. 9, when the autonomous boat 10 enters within a third set distance r3 from the second waypoint WP2, it recognizes that it has arrived at the second waypoint WP2 and heads toward the third waypoint. can move In addition, when another self-driving boat 20 following also enters within the third set distance r3 from the first waypoint WP1, it recognizes that it has arrived at the first waypoint WP1 and the second waypoint WP2. ) can be moved towards.

Since the autonomous boat 10 recognizes that it arrives at the waypoint based on the coordinates of the waypoint and the coordinates measured by the driving position sensor, it is difficult to reach the exact point on the water and rotates round and round around the specific coordinates problems may occur.

In contrast, when the self-driving boat 10 enters within the third set distance r3 from the waypoint, it recognizes that it has arrived at the corresponding waypoint and heads to the next waypoint, so that it can travel the designated route without malfunction.

Next, a method for the self-driving boat 10 to share status information including route deviation information related to the fourth set distance h4 with other autonomous boats 20 will be described.

10 is a diagram illustrating a control method of an autonomous driving system when the autonomous boat 10 is out of the fourth set distance h4. FIG. 11 is a diagram illustrating information transmission of the autonomous navigation system 50 when the autonomous boat 10 is out of the fourth set distance h4.

10 and 11, when the autonomous boat 10 deviate from the fourth set distance h4 based on the designated route, at least one of the other autonomous boat 20 and the control server 30 It can provide route departure information and stop driving.

On the other hand, the autonomous driving system 50 determines that the first boat 10 and the second boat 20 deviate from the fourth set distance h4 based on the designated route. You can stop driving.

On the other hand, referring to FIG. 10, the control method includes the steps of the control server 30 receiving state information of the first boat 10 from the first boat 10; and transmitting, by the control server 30, command information based on the status information to the second boat 20 moving ahead or behind the first boat 10, wherein the control server (30) transmitting command information based on the status information to the first boat 10, wherein the status information includes the specified route deviation information of the first boat 10 Including, the command information may include a stop command of the second boat (20).

Referring to FIG. 11, the first boat 10 can detect its own position, and can provide status information to the control server 30 when it is out of the fourth set distance h4 based on the designated route. . At the same time, the first boat 10 may stop and may detour along a temporary route.

Thereafter, the control server 30 may again provide command information to the first boat 10 and/or the second boat 20 (leading and/or trailing), and the first boat 10 and/or the second boat 20 The two boats 20 can stop based on command information. Here, the state information may include designated route deviation information (route deviation information). The fourth set distance h4 may be arbitrarily set.

In addition, unlike FIG. 11, the first boat 10 can detect its own position, and when it is out of the fourth set distance (h4) based on the designated route, the second boat 20 (leading and / or trailing) ) to provide status information. At the same time, the first boat 10 may stop and may detour along a temporary route.

After that, the second boat 20 may detour along a stopped or temporary route based on the state information.

As described above, as the first boat 10 provides state information to the second boat 20, the second boat 20 can recognize the state of the first boat 10 and stop. As the first boat 10 provides status information to the control server 30, the control server 30 recognizes the state and water situation of the first boat 10 and controls the first boat 10 and/or the second boat 10. Command information including a stop command may be transmitted to the boat 20 . Accordingly, a plurality of self-driving boats 10 can be collectively operated according to underwater conditions.

That is, when the first boat 10 deviate from the fourth set distance h4 based on the designated route, the first boat 10 and at least one second boat 20 may detour along the temporary route . As such, even if an accident risk occurs in one of the plurality of autonomous boats 10 traveling on the same designated route, the autonomous driving system 50 propagates the risk of an accident to the preceding or following autonomous boat 10 to cause additional accidents. can even be prevented.

Next, a method for the autonomous boat 10 to share state information including occupant departure information with other autonomous boats 20 will be described.

12 is a diagram illustrating a control method of an autonomous driving system when a passenger leaves the autonomous boat 10. 13 is a diagram illustrating a control method of an autonomous driving system when a passenger leaves the autonomous boat 10.

Referring to FIGS. 12 and 13 , the autonomous boat 10 may further include a weight sensor for recognizing the weight of the occupant. In addition, the autonomous boat 10 may provide occupant departure information to at least one of the other autonomous boat 20 and the control server 30 when the weight sensor detects occupant departure.

Meanwhile, the autonomous driving system 50 may stop driving of the first boat 10 and the second boat 20 when the departure of the occupant is detected from the first boat 10 .

On the other hand, referring to FIG. 12, the control method includes the steps of the control server 30 receiving state information of the first boat 10 from the first boat 10; and transmitting, by the control server 30, command information based on the status information to the second boat 20 moving ahead or behind the first boat 10, wherein the control server (30) transmitting command information based on the status information to the first boat 10, wherein the status information includes departure information of the first boat 10 of the occupant. And, the command information may include a command to stop the second boat 20.

The first boat 10 may include a weight sensor for recognizing the weight of the occupant. The weight sensor may be provided on a chair located on the boarding unit 300 or on the floor of the boarding unit 300 . When the weight sensor is provided on the chair, the first boat 10 can determine that the occupant is sitting, and when the weight sensor is provided on the floor, it can be determined that the occupant is inside the boarding unit 300. there is.

The first boat 10 may provide status information to the control server 30 when a passenger leaves the chair or boarding unit 300 through a weight sensor. Together with this, the first boat 10 may stop.

Thereafter, the control server 30 may again provide command information to the first boat 10 and/or the second boat 20 (leading and/or trailing), and the first boat 10 and/or the second boat 20 The two boats 20 can stop based on command information. Here, the state information may include departure information (occupant departure information) of the first boat 10 of the occupants.

In addition, as shown in FIG. 11, the first boat 10 provides state information to the first boat 10 (preceding and/or following) when the occupant leaves the chair or boarding unit 300 through a weight sensor. can Together with this, the first boat 10 may stop.

Then, the second boat 20 may stop based on the state information.

As described above, as the first boat 10 provides state information to the second boat 20, the second boat 20 can recognize the state of the first boat 10 and stop. As the first boat 10 provides status information to the control server 30, the control server 30 recognizes the state and water situation of the first boat 10 and controls the first boat 10 and/or the second boat 10. Command information including a stop command may be transmitted to the boat 20 . Accordingly, a plurality of self-driving boats 10 can be collectively operated according to underwater conditions.

That is, when the first boat 10 detects the departure of the occupant from the first boat 10, the first boat 10 and at least one second boat 20 may stop. As such, even if an accident risk occurs in one of the plurality of autonomous boats 10 traveling on the same designated route, the autonomous driving system 50 propagates the risk of an accident to the preceding or following autonomous boat 10 to cause additional accidents. can even be prevented. In particular, it is possible to prevent a primary accident that occurs when the occupant is not seated and a secondary accident that occurs after the occupant falls into the water.

The first boat 10 directly or indirectly (through the control server) provides at least one of object (obstacle) information, route departure information, and occupant departure information to the second boat 20 as status information or command information, Dangerous situations can be spread. In particular, it is possible to take preventive measures step by step by estimating the degree of risk in stages, such as dividing the first set distance and the second set distance.

The second boat 20 receives the state information from the first boat 10 and recognizes a dangerous situation and stops driving or creates a temporary route to detour.

The control server 30 may receive the status information from the first boat 10, recognize a dangerous situation, and provide command information including a stop command and/or a detour command to at least one or more second boats 20. there is. As a result, the second boat 20 may stop driving or take a detour along a temporary route.

Also, the command information may include a deceleration command, and the autonomous boat 10 and other autonomous boats 20 may decelerate instead of stopping and detouring.

As described above, the self-driving boat 10, the self-driving system 50, and the control method of the self-driving system can efficiently operate the plurality of autonomous boats 10 while preventing accidents.

As described above, the present invention has been described with reference to preferred embodiments, but those skilled in the art can make various modifications or variations of the present invention within the scope not departing from the spirit and scope of the present invention described in the claims below. can be carried out.

10: autonomous boat, first boat
20: another self-driving boat, second boat
30: control server
40: object
50: autonomous driving system
100: propulsion unit
110: 1st hull
120: second hull
200: support
300: boarding part
400: lighting unit
500: water fountain
600: target position sensor
610: ultrasonic sensor
620: radar sensor

Claims (16)

In an autonomous boat moving along a designated route including a plurality of waypoints,
a driving position sensor provided in the autonomous boat to measure a position; and
Including; an object position sensor provided in the autonomous boat to measure the position of an object,
Driving while sharing state information with other autonomous boats moving along the designated route based on a signal of at least one of the driving position sensor and the target position sensor,
When the distance between the autonomous boat and the obstacle is within the first set distance,
Provide object information including the obstacle to a control server, receive command information including a stop command based on the object information from the control server together with the other self-driving boat, and receive the command information together with the other autonomous boat Self-driving boats that simultaneously stop running based on information. delete According to claim 1,
When the distance between the self-driving boat and the object is within the second set distance,
An autonomous boat that provides object information to at least one of the other autonomous boat and the control server and takes a detour along a temporary route. According to claim 1,
The specified route includes a plurality of waypoints,
An autonomous boat that moves toward a second waypoint after moving within a third set distance based on the first waypoint. According to claim 1
If it is out of the 4th set distance based on the designated route,
An autonomous boat that provides route deviation information to at least one of the other autonomous boat and the control server, and stops driving. According to claim 1
Further comprising a weight sensor for recognizing the weight of the occupant,
When the departure of the occupant is detected by the weight sensor,
An autonomous boat that provides occupant departure information to at least one of the other autonomous boat and the control server and stops driving. In an autonomous driving system in which a plurality of autonomous boats are grouped,
A first boat moving along a designated route; and
Including a second boat that moves ahead or behind the first boat along the designated path,
When the distance between the first boat and the obstacle is within the first set distance,
The first boat provides object information including the obstacle to the second boat and the control server and stops,
The autonomous navigation system, wherein the second boat receives command information including a stop command based on the object information from the first boat and the control server and stops based on the command information. According to claim 7,
When the distance between the first boat and the obstacle is within the second set distance, the first boat and the second boat moving behind take a detour along the temporary route. According to claim 7,
The autonomous navigation system, wherein the first boat and the second boat stop driving when the first boat deviate from the fourth set distance based on the designated route. According to claim 7,
The autonomous navigation system, wherein the first boat and the second boat stop driving when the departure of the occupant from the first boat is detected. delete delete delete delete delete delete

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