KR102617981B1 - Collision avoidance system for autonomous ships - Google Patents

Abstract

A collision avoidance system for autonomous ships is launched. The collision avoidance system for autonomous ships includes a steering device that controls the speed and direction of the autonomous ship, detects objects in the sea around the autonomous ship while the autonomous ship is sailing, and provides location information and movement speed of the detected object. , a surrounding navigation device that acquires movement direction and shape information and generates a navigation route to a preset destination, controls the steering device so that the autonomous ship sails according to the generated navigation route, obtains location information, movement speed, Using the movement direction and shape information, determine whether the detected object is located on the navigation path of the autonomous ship, predict the size of the detected object, determine whether the detected object is an obstacle, and determine whether the detected object is an obstacle. If it is determined to be an obstacle, the navigation path is modified to avoid collision with the detected object by considering the shape information of the bottom of the object submerged in the water, and the autonomous vessel is controlled to sail according to the modified navigation path. Includes navigation equipment.

Description

Collision avoidance system for autonomous ships}

The present invention relates to a collision avoidance system for autonomous ships.

An autonomous ship refers to a ship that automatically navigates a set route without a crew and, if necessary, can control navigation and engine parts (e.g. engines, rudder devices) from a remote control center. To this end, a remote control center on the ground is needed to remotely control autonomous ships, and in order to resolve technical and legal issues, the captain and the chief engineer must directly command and control the remote control center.

Meanwhile, due to the recent development of GPS and various sensors, it can be said that it is not difficult for a vehicle to autonomously drive along the shortest path, but this is not the case when it comes to operating a ship. This is because, unlike other land-based vehicles such as cars and motorcycles, ships operate underwater and have a very large inertial force, making it very difficult to immediately adjust their speed or direction. In addition, because the sea does not have fixed roads like land and is greatly influenced by various variables such as weather, it is very difficult to sail on a planned route. In order to prevent unexpected collisions with other ships and reefs, the crew is always on the front line. You must keep an eye on.

In particular, when a large amount of rain or snow falls or a high concentration of fog, smog, yellow dust or fine dust occurs while the ship is in operation, visibility is drastically reduced, making it difficult for the crew to see with the naked eye even if they are looking ahead. Since it is difficult to detect objects with the naked eye, there is a problem that one may be placed in a very dangerous situation where unexpected collisions with other ships, reefs, etc. may occur. In other words, it can be said that collision avoidance is the key to ship operation. In order to control the ship's speed or direction, the ship's navigation path must be predicted in advance and the steering wheel or shift lever must be operated in advance.

Republic of Korea Patent Publication No. 10-0734814 (2007.06.27)

The present invention is an autonomous navigation system that detects and analyzes maritime objects existing in the navigation path during the navigation of an autonomous ship in advance, and uses the analysis results to control the autonomous ship to navigate on a safe navigation path that avoids collisions with maritime objects. It is intended to provide a collision avoidance system for ships.

According to one aspect of the present invention, a collision avoidance system for an autonomous ship is disclosed.

The collision avoidance system for an autonomous ship according to an embodiment of the present invention includes a steering device that controls the speed and direction of the autonomous ship, detects objects in the sea around the autonomous ship while the autonomous ship is sailing, and , a surrounding search device that acquires location information, movement speed, movement direction, and shape information of the detected object, and generates a navigation route to a preset destination, and causes the autonomous vessel to sail according to the generated navigation route. Control the steering device, use the acquired location information, movement speed, movement direction, and shape information to determine whether the detected object is located on the navigation path of the autonomous ship and the size of the detected object. predicts and determines whether the detected object is an obstacle, and if the detected object is determined to be an obstacle, collision with the detected object is avoided by considering shape information of the bottom of the submerged object of the detected object. It includes an autonomous navigation device that modifies the navigation route and controls the autonomous vessel to sail according to the modified navigation route.

The autonomous navigation device calculates an expected navigation path of the detected object from the location information, the movement speed, and the direction of movement, and compares the expected navigation path with the navigation path of the autonomous vessel over time to enable collision. It is determined whether a collision is possible, and if a collision is possible as a result of the determination, the detected object is determined to be an obstacle.

The autonomous navigation device calculates the expected size of the detected object using the shape information, and when the calculated expected size is greater than or equal to a threshold, determines the detected object as an obstacle.

The surrounding search device includes a sonar, and when the detected object is determined to be an obstacle, the autonomous navigation device scans the bottom of the object submerged in the water of the sonar to determine the shape of the bottom of the object. Control to obtain information, calculate the size of the bottom of the detected object as the actual size of the object using the shape information of the bottom of the object, and modify the navigation path in consideration of the calculated actual size.

The collision avoidance system for autonomous ships according to an embodiment of the present invention detects and analyzes maritime objects existing in the navigation path during navigation of an autonomous ship in advance, and uses the analysis results to avoid collisions with maritime objects in a safe manner. The navigation route can be used to control autonomous ships.

Figure 1 is a diagram schematically illustrating the configuration of a collision avoidance system for an autonomous ship according to an embodiment of the present invention.
FIG. 2 is a diagram illustrating a collision avoidance system for an autonomous ship according to an embodiment of the present invention of FIG. 1.
Figure 3 is a flowchart illustrating an operation method of a collision avoidance system for an autonomous ship according to an embodiment of the present invention.

As used herein, singular expressions include plural expressions unless the context clearly dictates otherwise. In this specification, terms such as “consists of” or “comprises” should not be construed as necessarily including all of the various components or steps described in the specification, and some of the components or steps may be included in the specification. It may not be included, or it should be interpreted as including additional components or steps. In addition, terms such as "... unit" and "module" used in the specification refer to a unit that processes at least one function or operation, which may be implemented as hardware or software, or as a combination of hardware and software. .

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

Figure 1 is a diagram schematically illustrating the configuration of a collision avoidance system for an autonomous ship according to an embodiment of the present invention, and Figure 2 illustrates a collision avoidance system for an autonomous ship according to an embodiment of the present invention in Figure 1. This is a drawing for this purpose. Hereinafter, a collision avoidance system for an autonomous ship according to an embodiment of the present invention will be described, focusing on FIG. 1, with reference to FIG. 2.

Referring to FIG. 1, the collision avoidance system for an autonomous ship according to an embodiment of the present invention includes an autonomous navigation device 100, a steering device 200, a sensor device 300, a surrounding search device 400, and a communication device. It may be configured to include (500).

The steering device 200 controls the speed and direction of the autonomous ship.

That is, as shown in FIG. 1, the steering device 200 includes a speed controller 210 that controls the engine that provides propulsion for the autonomous ship and a direction controller 220 that controls the rudder and rudder angle of the autonomous ship. ) may include.

The speed controller 210 can control the forward, backward, and speed of the autonomous ship by controlling the engine to operate at a speed determined by direct operation of the autonomous navigation device 100 or a navigator.

The direction controller 220 can control the direction of the autonomous ship by controlling the player to be positioned in a direction determined by direct manipulation of the autonomous navigation device 100 or a navigator.

The sensor device 300 may include various sensors to measure the state of the surrounding environment of the autonomous navigation vessel, and may transmit sensing information measured by the various sensors to the autonomous navigation device 100.

That is, the sensor device 300 may include a wave height sensor 310, a wind sensor 320, and a position sensor 330, as shown in FIG. 1 .

Here, the wave sensor 310 measures the wave height of the surrounding ocean, the wind sensor 320 measures the wind speed and direction of the surrounding ocean, and the position sensor 330 measures the current location of the autonomous ship and is moving. In this case, the moving direction and moving speed are measured from the measured real-time current location. For example, the location sensor 330 may be a Global Positioning System (GPS) device.

Sensing information measured by such sensors may be transmitted to the autonomous navigation device 100.

The surrounding search device 400 may search for objects around the autonomous ship to detect obstacles around the autonomous ship and transmit the search information to the autonomous navigation device 100.

The surrounding search device 400 may include various searchers for searching objects around the autonomous ship. That is, as shown in FIG. 1, the surrounding search device 400 includes an Automatic Identification System (AIS) 410, a RADAR 420, a Lidar 430, and a camera. It may include (440) and Sonar (450).

Here, the automatic vessel identification device 410 receives and collects AIS data, which is track data of other vessels. Here, AIS data consists of static information and dynamic information. Static information includes the ship's name, vessel specifications, destination, etc., and dynamic information includes navigation information such as the vessel's current location, course, and speed. Includes.

The radar 420 and lidar 430 detect objects existing around the autonomous ship and obtain location information, moving speed, moving direction, and shape information of the detected object. Here, the objects may include ships sailing around the autonomous ship, icebergs, reefs, floating objects, etc.

The camera 440 acquires images around the autonomous vessel in order to detect objects around the autonomous vessel through image analysis.

For example, the camera 440 may be an around view camera composed of a plurality of cameras installed along the outside of the autonomous ship to point outward from the front, rear, and sides of the autonomous ship. The around view camera captures preset areas in the front, rear, and sides from a preset viewpoint, corrects the distortion of the multiple multi-view images obtained through this, and then stitches them to create one around view image with a top view viewpoint. can be created.

The sonar 450 transmits sound waves underwater, detects underwater objects using reflected waves, scans the detected objects, and obtains location information and shape information of the detected objects.

Navigation information measured by such explorers may be transmitted to the autonomous navigation device 100.

The communication device 500 performs communication with other autonomous ships or various communication-capable devices on land. For example, the communication device 500 may include various communication media such as CDMA, satellite communication, LTE, RF communication, etc.

In particular, the communication device 500 can communicate with a server of a land control center that supports navigation of ships on land, a Korea Meteorological Administration server that provides weather information, etc. Here, the weather information may include real-time weather information and future weather forecast information, and in particular, may include wave height, weather, etc. in the maritime area where the relevant ship is located.

The autonomous navigation device 100 receives destination information, generates an optimal navigation route to the destination, and controls the autonomous vessel to sail according to the generated optimal navigation route.

For example, the autonomous navigation device 100 may be implemented as software, hardware, or a combination of software and hardware, and may include an electronic navigation chart database, a route algorithm for calculating an optimal navigation route, etc.

In particular, when an object around the autonomous ship is detected while the autonomous ship is sailing, the autonomous navigation device 100 according to an embodiment of the present invention analyzes the detected object and uses the analysis result to detect the autonomous ship. It can be controlled to avoid collision with an object.

While the autonomous vessel is sailing, the autonomous navigation device 100 analyzes whether objects detected around the autonomous vessel are located on the navigation path of the autonomous vessel, determines whether the detected object is an obstacle, and determines whether the detected object is an obstacle as a result of the analysis. If the object is determined to be an obstacle, the bottom of the object can be searched, and the autonomous ship can be controlled to navigate while avoiding collision with the detected object, taking into account the shape of the bottom of the searched object and the moving speed of the autonomous ship.

For example, the automatic ship identification device 410, radar 420, and lidar 430 detect objects in the sea around the autonomous ship while the autonomous ship is sailing, and provide location information and movement speed of the detected object. , movement direction and shape information can be obtained.

And, the autonomous navigation device 100 uses the acquired location information, movement speed, movement direction, and shape information to determine whether the detected object is located on the navigation path of the autonomous vessel and the size of the detected object. By predicting, it is possible to determine whether the detected object is an obstacle.

For example, the autonomous navigation device 100 calculates the expected navigation path of the object from the location information, movement speed, and direction of movement of the detected object, and compares the expected navigation path of the object and the navigation path of the autonomous vessel over time. This determines whether a collision is possible, and if a collision is possible as a result of the judgment, the detected object can be regarded as an obstacle. Additionally, the autonomous navigation device 100 may calculate the expected size of the object using shape information of the detected object, and if the calculated expected size is greater than or equal to a threshold, the detected object may be regarded as an obstacle.

Meanwhile, the autonomous navigation device 100 can analyze the image acquired by the camera 440 to detect an object located relatively close to the autonomous ship and determine whether the detected object is an obstacle.

For example, assuming that the camera 440 is an around view camera, the autonomous navigation device 100 may determine that an obstacle exists when an object appears in a preset obstacle detection area in the around view image. Then, the autonomous navigation device 100 estimates the distance from the current location to the obstacle from the around view image, and calculates the time it takes to collide with the obstacle from the current location based on the estimated distance and the current moving speed and direction of movement of the autonomous vessel. It can also be estimated.

Next, the autonomous navigation device 100 may modify the navigation path to avoid collision with the detected object by considering information on the shape of the lower part of the object determined to be an obstacle.

To this end, when the detected object is determined to be an obstacle, the autonomous navigation device 100 may control the sonar 450 to obtain shape information of the bottom of the object by scanning the bottom of the submerged object.

In addition, the autonomous navigation device 100 can calculate the size of the lower part of the detected object as the actual size of the object using the shape information of the lower part of the object, and modify the navigation path of the autonomous ship by considering the calculated actual size.

For example, Figure 2 shows an example of an iceberg floating at sea. As shown in Figure 2, an object such as an iceberg can have a very large lower portion submerged underwater compared to the upper portion that appears above the water. When such an object becomes an obstacle, the bottom of the object is more dangerous to the ship than the top of the object, so the actual size of the detected object can be determined by the size of the bottom of the object.

That is, the autonomous navigation device 100 modifies the navigation path of the autonomous vessel so that the expected navigation path of the object calculated from the location information, movement speed, and direction of movement of the detected object is spaced apart by a preset safety distance, but the calculated object Depending on the actual size of the object, the navigation path of the autonomous ship can be modified so that the object is spaced a preset safety distance from the edge of the area occupied in the sea of the expected navigation path.

Next, the autonomous navigation device 100 can control the autonomous navigation vessel to sail according to the modified navigation route.

At this time, in order to maximize the distance to the detected object as much as possible, the autonomous navigation device 100 may adjust the movement speed of the autonomous ship according to the distance to the detected object while sailing along the modified navigation path.

For example, the autonomous navigation device 100 may adjust the moving speed of the autonomous vessel to be proportional to the distance from the detected object. That is, the autonomous navigation device 100 reduces the movement speed of the autonomous vessel to a preset rate when the autonomous vessel approaches the detected object, and when the autonomous vessel moves away from the detected object, the autonomous vessel moves. The speed can be increased at a preset rate.

Figure 3 is a flowchart illustrating an operation method of a collision avoidance system for an autonomous ship according to an embodiment of the present invention.

In step S310, the autonomous navigation device 100 generates an optimal navigation route to the input destination and controls the autonomous vessel to sail according to the generated optimal navigation route.

In step S320, when an object is detected around the autonomous ship by the surrounding search device 400 while the autonomous ship is sailing, the autonomous navigation device 100 analyzes the detected object.

In step S330, the autonomous navigation device 100 determines whether the detected object is an obstacle according to analysis of the detected object.

That is, while the autonomous navigation vessel is sailing, the autonomous navigation device 100 may analyze whether an object detected around the autonomous vessel is located on the navigation path of the autonomous vessel and determine that the detected object is an obstacle. At this time, the autonomous navigation device 100 uses the acquired location information, movement speed, direction of movement, and shape information to determine whether the detected object is located on the navigation path of the autonomous vessel and the size of the detected object. By predicting, it is possible to determine whether the detected object is an obstacle.

In step S340, when the detected object is determined to be an obstacle, the autonomous navigation device 100 controls the sonar 450 to obtain shape information of the lower part of the object by scanning the lower part of the detected object submerged in water.

Here, the autonomous navigation device 100 calculates the size of the bottom of the detected object as the actual size of the object using the shape information of the bottom of the object.

In step S350, the autonomous navigation device 100 controls the autonomous navigation vessel to navigate while avoiding collision with the detected object, taking into account the shape of the bottom of the discovered object and the moving speed of the autonomous vessel.

Here, the autonomous navigation device 100 modifies the navigation path of the autonomous vessel in consideration of the actual size of the calculated object, controls the autonomous vessel to sail according to the modified navigation path, and adjusts the distance to the detected object as much as possible. In order to maximize, the movement speed of the autonomous vessel can be adjusted according to the distance to the detected object while sailing along the modified navigation path.

Meanwhile, the components of the above-described embodiment can be easily understood from a process perspective. In other words, each component can be understood as a separate process. Additionally, the processes of the above-described embodiments can be easily understood from the perspective of the components of the device.

Additionally, the technical contents described above may be implemented in the form of program instructions that can be executed through various computer means and recorded on a computer-readable medium. The computer-readable medium may include program instructions, data files, data structures, etc., singly or in combination. Program instructions recorded on the medium may be specially designed and configured for the embodiments or may be known and available to those skilled in the art of computer software. Examples of computer-readable recording media include magnetic media such as hard disks, floppy disks, and magnetic tapes, optical media such as CD-ROMs and DVDs, and magnetic media such as floptical disks. -Includes optical media (magneto-optical media) and hardware devices specifically configured to store and execute program instructions, such as ROM, RAM, flash memory, etc. Examples of program instructions include machine language code, such as that produced by a compiler, as well as high-level language code that can be executed by a computer using an interpreter, etc. A hardware device may be configured to operate as one or more software modules to perform the operations of the embodiments, and vice versa.

The above-described embodiments of the present invention have been disclosed for illustrative purposes, and those skilled in the art will be able to make various modifications, changes, and additions within the spirit and scope of the present invention, and such modifications, changes, and additions will be possible. should be regarded as falling within the scope of the patent claims below.

100: autonomous navigation device
200: steering gear
300: sensor device
400: Nearby navigation device
500: communication device

Claims (4)

In the collision avoidance system of autonomous ships,
A steering device that controls the speed and direction of the autonomous ship;
While the autonomous ship is sailing, objects are detected in the sea around the autonomous ship, location information, movement speed, movement direction and shape information of the detected object are acquired, and surrounding search includes sonar. Device; and
Generate a navigation route to a preset destination, control the steering device so that the autonomous vessel sails according to the generated navigation route, and use the acquired location information, movement speed, direction of movement, and shape information, Determine whether the detected object is located on the navigation path of the autonomous ship, predict the size of the detected object, determine whether the detected object is an obstacle, and if the detected object is determined to be an obstacle. , Modifying the navigation path to avoid collision with the detected object by considering the shape information of the bottom of the submerged object of the detected object, and controlling the autonomous vessel to sail according to the modified navigation path. Including navigation devices,
The autonomous navigation device,
Calculate the expected size of the detected object using the shape information, and if the calculated expected size is greater than a threshold, determine the detected object as an obstacle,
When the detected object is determined to be an obstacle, the sonar is controlled to scan a lower part of the detected object submerged in water to obtain shape information of the lower part of the object,
Using the shape information of the bottom of the object, the size of the bottom of the detected object is calculated as the actual size of the object, and the detected object is spaced a preset safety distance from the edge of the area occupied by the detected object according to the calculated actual size. A collision avoidance system for autonomous ships characterized by modifying the navigation path.
According to paragraph 1,
The autonomous navigation device calculates an expected navigation path of the detected object from the location information, the movement speed, and the direction of movement, and compares the expected navigation path with the navigation path of the autonomous vessel over time to enable collision. A collision avoidance system for an autonomous ship, characterized in that it determines whether a collision is possible and, if a collision is possible as a result of the determination, determines the detected object as an obstacle.
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