KR20170133010A - Safe docking system of ships using camera image and method thereof - Google Patents

Abstract

The present invention relates to a safe ship docking system using camera images and a method thereof, which use difference image information obtained in real time through cameras installed in a fixed harbor or fixed ships to measure a location of and a distance from a moving ship, generate alerts by steps according to approaching distances of moving ships, and after determining the size of ships through the difference image information obtained through the cameras, differently apply a distance for generating object approaching danger alarms depending on the size of ships. According to the present invention, the system can be operated without sharing of location information between moving ships and fixed ships or fixed harbors, such that there is no worry about disconnection of communication. Since the system uses difference image information obtained through cameras to measure whether a ship moves and how much the ship approaches, the configuration of the system can be simple. The system comprises: cameras; an image receiving unit; an object sensing unit which senses ships through a difference image, morphology, and expansion calculation; a difference image storage unit; an image dividing unit which divides a sea image at a predetermined interval from top to bottom; an angle storage unit; a distance storage unit which uses angles for each sea level location stored in the angle storage unit to calculate distances to each location of sea levels; and an alarm generating unit which compares information stored in the difference image unit with information stored in the distance storage unit, and when a ship is determined to move to a fixed harbor or fixed ships, generates an alarm.

Description

Technical Field [0001] The present invention relates to a safety eyepiece system using a camera image,

The present invention relates to a safety eyepiece system and method for a ship using camera images, and more particularly to a safety eyepiece system using a camera image capable of safely biding a ship docked at a fixed port or a fixed ship, The present invention relates to a safety eyepiece system and a method thereof.

The pilot will board the ship in a fixed area such as a port, a canal, or a river, guide the ship to a safe waterway, and deliver the vessel in and out so that the vessel can berth securely in the port. However, in the strait, harbor or coastal area, there are many factors that threaten the safe navigation of the ship. Therefore, the pilot must adjust the course and speed of the ship in consideration of experience or considering the wind speed, wind direction, weather, Therefore, a system was needed to identify the exact position of the fixed port in real time and to detect the relative position between the fixed port and the moving ship and to help the ship to berth securely in the port.

In order to solve such a problem, Japanese Laid-Open Patent Publication No. 10-1452994 (Ship's safety eyepiece system) is equipped with a safety eyepiece server arranged in a fixed port or a fixed ship and a movable safety eyepiece device communicating with a safety eyepiece server, The present invention relates to a safety eyepiece system for measuring the distance between a port or a fixed ship and a moving ship, thereby helping to berth the ship safely.

Japanese Patent Application Laid-Open No. 10-1452994 discloses a safety eyepiece server having a GPS receiver, a camera for collecting image information about a ship to berth, an antenna for communicating with a safety eyepiece, and the like. A GPS receiver, a display for presenting a user screen, an antenna for communicating with a safety eyewear server, and the like.

As described above, according to the above-mentioned Japanese Patent Application No. 10-1452994, it is necessary not only to additionally provide additional high-priced equipment to the fixed port or the fixed ship, but also to provide a separate equipment for communication with the safety eyewear server In addition to the high installation cost of the equipment, there is a risk of collision accident if there is a problem such as communication disconnection between two equipment.

Patent No. 10-1452994 Patent No. 10-1512237

SUMMARY OF THE INVENTION It is an object of the present invention to provide a safety eyepiece system using a camera image capable of safely docking a mobile ship without sharing location information between a fixed port or a fixed ship, And a method thereof.

Providing a safety eyepiece system and method for a ship using a camera image capable of measuring a position of a moving ship and a distance to the moving ship by using car image information obtained in real time through a camera installed in a fixed port or a fixed ship .

In addition, not only does it generate a step-by-step alarm according to the approach distance of the moving ship, but also determines the size of the ship with the car image information captured through the camera, and applies the distance that generates the object proximity danger alarm according to the size of the ship And to provide a safety eyepiece system and method therefor using a camera image.

In order to achieve the above object, the present invention provides a camera installed in a fixed port or a fixed ship; An image receiving unit for receiving an image acquired by the camera; A physical object sensing unit for sensing a ship through a car image, a morphology opening and an expansion calculation of a real-time image frame received by the image receiving unit; A difference image storage unit for storing difference image information detected by the object detection unit; An image dividing unit dividing the image of the sea entering the camera viewing angle at regular intervals from top to bottom; An angle storage unit for storing an angle (?) Between a line segment extending from each position of the sea surface divided by the image partitioning unit to a camera and a vertical axis of a camera installed on a fixed port or a fixed ship; The distance from the fixed port where the camera is installed to each position of the sea surface divided from the image dividing section by using the angle (?) For each sea surface position stored in the angle storage section and the height (h) (d); And comparing the difference image information for the ship stored in the difference image storage unit with the distance information d for each image segment stored in the distance storage unit to determine whether the ship is moving to a fixed port or a fixed ship, And an alarm generator for generating an alarm.

The distance storage unit may store the distance information d on the image divided by the image dividing unit at a predetermined interval and the distance d from the fixed port where the camera is installed or the fixed sea to the sea level indicated by the respective positions on the image, .

When the distance (d) to the sea level indicated by the position on the corresponding image is small, when the ship is a fixed port or a fixed ship As shown in FIG.

The alarm generating unit detects the position information on the image near the Y-axis coordinate value indicating the lower point of the ship among the coordinate values of the difference image for the ship and calculates the distance d to the sea level indicated by the position on the corresponding image, It can be judged that the ship moves to the fixed port or the fixed ship side.

The alarm generator generates an object confirmation alarm when the ship is first checked, generates an object movement alarm when it is determined that the ship is approaching, and may generate an object proximity danger alarm when the ship is within a specified distance.

An object size determining unit for determining the size of the ship with the information of the ship's image about the ship, determining whether the ship is approaching sideways, approaching the athlete or approaching the stern, And the alarm generating unit may divide the size of the ship determined by the object size determining unit into a plurality of classes and apply the designated distance differently according to each class.

According to another aspect of the present invention, there is provided a method of detecting an image, the method comprising: dividing an image of a sea, which is installed in a fixed port or a fixed ship, Storing an angle (?) At which a line segment extending from the angular position of the sea divided by the image to the camera and the vertical axis of the camera installed at the fixed port or the fixed ship meet; The distance d from the fixed port where the camera is installed or the fixed ship to each position of the sea level divided by the image is calculated by using the angle θ by each sea level position and the height h from the sea level to the camera Storing; Receiving a real-time image frame from the camera, sensing a vessel through a car image, a morphology opening, and an expansion calculation; Storing the sensed difference image information; And comparing the difference image information of the stored ship with the distance information d of the stored image segment to generate an alarm for each step when it is determined that the ship is moving to the fixed port or the fixed ship.

The step of calculating and storing the distance d may include calculating the distance d from the position information on the image divided by the predetermined interval in the image segmentation step and the distance from the fixed port where the camera is installed or the fixed ship to the sea surface indicated by the position on the image, d), and generating the alarm, the position information on the image corresponding to the coordinate value of the difference image of the ship is grasped, and the distance d to the sea level indicated by the position on the corresponding image is calculated, It can be judged that the ship moves to the fixed port or the fixed ship side.

The generating of the alarm may include obtaining positional information on an image close to a Y-axis coordinate value indicating a lower point of the ship among the coordinate values of the difference image for the ship, determining the distance to the sea level indicated by the position on the corresponding image (d) is small, it can be judged that the ship is moving to the fixed port or fixed ship side.

The alarm generating step generates an object confirmation alarm upon initial confirmation of the ship, generates an object movement alarm when it is determined that the ship is approaching, generates an object proximity risk alarm when the ship is within a specified distance, Determines the size of the ship with the information about the length of the ship or the width of the ship, determines whether the ship is approaching sideways, approaches the athlete or approaches the ship with the difference image information for the ship, The size may be divided into a plurality of classes, and the specified distance may be applied differently according to each class.

According to the present invention having the above-described configuration, the following effects can be achieved.

First, the present invention can operate without sharing location information between a fixed port or a fixed ship and a moving ship, so there is no need to worry about communication disconnection. Since the distance can be measured, the system can be easily configured.

In addition, there is no need for a special equipment for a moving ship to berth, and it is possible to operate the equipment if only a general camera such as a CCTV camera is installed in a fixed port or a fixed ship.

It is possible to generate alarm in stages according to the approach distance of the moving ship. If the size of the ship judged to be the car image is large, the approach speed is fast. If the size of the ship is small, It is possible to efficiently cope with the risk of collision of the ship in advance by applying different distances to generate object proximity risk alarm according to the size of the ship judged in the car image.

Furthermore, an alarm for collision can be output to the sound and monitor, and the information of the mobile ship can be transmitted wirelessly by associating the collision prediction information with the AIS (Auto Identification System).

1 is a block diagram illustrating a configuration of a safety eyepiece system using a camera image according to an embodiment of the present invention.
FIG. 2 is an exemplary view of a floating LNG bunkering terminal (FLBT) and a liquefied natural gas carrier (LNGC) to which a safety eyepiece system using a camera image according to an embodiment of the present invention is applied. to be.
3 is a result of image extraction test of a moving ship according to an embodiment of the present invention.
FIG. 4 is an exemplary diagram illustrating a screen image by dividing a screen image according to an embodiment of the present invention and calculating a distance d to the position of the sea level indicated by each of the divided points on a screen image.
5 is a flowchart of a method of safety eyepiece using a camera image according to another embodiment of the present invention.

BRIEF DESCRIPTION OF THE DRAWINGS The advantages and features of the present invention, and how to accomplish them, will become apparent by reference to the embodiments described in detail below with reference to the accompanying drawings.

However, the present invention is not limited to the embodiments described below, but may be embodied in various other forms.

The present embodiments are provided so that the disclosure of the present invention is thoroughly disclosed and that those skilled in the art will fully understand the scope of the present invention.

And the present invention is only defined by the scope of the claims.

Thus, in some embodiments, well known components, well known operations, and well-known techniques are not specifically described to avoid an undesirable interpretation of the present invention.

In addition, throughout the specification, like reference numerals refer to like elements, and the terms (mentioned) used herein are intended to illustrate the embodiments and not to limit the invention.

In this specification, the singular forms include plural forms unless the context clearly dictates otherwise, and the constituents and acts referred to as " comprising (or comprising) " do not exclude the presence or addition of one or more other constituents and actions .

Unless defined otherwise, all terms (including technical and scientific terms) used herein may be used in a sense commonly understood by one of ordinary skill in the art to which this invention belongs.

Also, commonly used predefined terms are not ideally or excessively interpreted unless they are defined.

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

1 to 4, a safety eyepiece system 100 using a camera image of the present invention includes a camera 110, an image receiving unit 120, an object detecting unit 130, a car image storing unit 140, And may include an image dividing unit 150, an angle storing unit 160, a distance storing unit 170, and an alarm generating unit 180, and may further include an object size determining unit 190.

The image received by the image receiving unit 120 is stored in the camera image database 121. The difference image stored in the difference image storing unit 140 is stored in the difference image DB 141, Can store the angle θ stored in the angle DB 161 and the distance d stored in the distance storage unit 170 in the distance DB 171. [

The camera 110 may be a variety of cameras such as a CCTV camera or a stereo camera, and may be installed in a fixed port or a fixed ship.

In the embodiment of FIG. 2, the camera 110 is installed in a floating LNG bunker terminal (FLBT), which is the fixed vessel 1.

The image receiving unit 120 receives the real-time image acquired by the camera 110 and stores the received real-time image in the camera image DB 121.

The object detection unit 130 obtains a real-time image frame received from the image receiving unit 120 at a user-specified time interval (for example, every three minutes) (2).

Specifically, a difference image is extracted using a subtraction operation of a reference image frame and a subsequent image frame, and then the color between the color information of the ship 2 and the color of the image of the vessel 2 is binarized to a threshold value and grouped by labeling. Then use the open morphology operation to remove noise and use the dilation operation to remove the reflected light from the object.

FIG. 3 is a block diagram illustrating a method for detecting (b-1, c-1) a specific region using the real-time original image a obtained by the camera 110 and for binarizing (b-2, c-2) Show test results. As a test method, the RGB color space was used for the color, and the threshold value of each R, G, B value was set to ± 50.

The difference image storage unit 140 stores the difference image information detected by the object detection unit 130 in the difference image DB 141. [

The image dividing unit 150 divides the image of the ocean entering the viewing angle of the camera 110 at regular intervals from top to bottom.

Referring to FIG. 4, the image dividing unit 150 divides an image photographed by the camera 110 at regular intervals up and down from the top to the bottom or from the center of the image, And the distance d between the image angle? And the horizontal plane indicated by each division position.

Table 1 shows angles (?) Between the angular positions of the sea surface according to the image segment of FIG. 4 and the camera, and distances (d) to respective positions of the sea surface.

4 and Table 1, the angle? In the image represents an upper angle? And a lower angle? With respect to the center (0 ') of the screen image, and an angle? Is -18 deg., And the corresponding total angle [theta] is 23 deg. The angle α in the image representing the top of the screen image is + 18 °, and the corresponding total angle θ is 59 °. The distance d to the corresponding position on the sea surface indicated by the total angle of 23 ° is 6.367 m and the distance d to the corresponding position on the sea surface indicated by the total angle of 59 ° is 24.964 m. It can be seen that the distance d becomes longer as the total angle [theta] to the ship 2 becomes larger. The value used to determine the distance d is the total angle [theta].

The overall angle [theta] and the distance d will be described in detail with reference to Fig. Fig. 2 shows an example in which the liquefied natural gas carrier 2 is docked to the floating LNG bunkering terminal 1 side. A camera 110 is installed in the floating LNG bunkering terminal 1. The angle formed by the liquefied natural gas carrier 2 with the camera 110 with respect to the sea surface is 90 to 90 degrees with respect to the sea level when the overall angle of the liquefied natural gas carrier 2 to the vertical axis on which the camera 110 is installed is? . The height from the sea surface to the camera 110 is h.

The distance d from the floating LNG bunkering terminal 1 to the liquefied natural gas carrier 2 can be obtained by the following equation (1).

Distance (d) = Camera height (h) / tan (90 -?)

The angle storage unit 160 stores an angle θ between the line segment extending from the sea surface divided from the image partitioning unit 150 to the camera 110 and the vertical axis of the camera 110 installed in the fixed port or fixed ship 1 And stored in the angle DB 161. The angle DB 161 stores an angle θ between the imaginary line segment extending from the sea level surface of the image segment shown in FIG. 4 to the camera 110 and the vertical axis of the fixed port or the camera 110 installed on the fixed ship 1 .

The distance storage unit 170 stores the distance d between the fixed port or the fixed ship installed with the camera 110 by using the angle θ of each sea level position stored in the angle storage unit 160 and the height h from the sea level to the camera 110, (D) from the image dividing section (1) to each position of the sea surface divided by the image dividing section (150) and stores the distance (d) in the distance DB (171). In the distance DB 171, the distance d to each position of the sea level of the image segment shown in FIG. 4 is stored using Equation (1).

The alarm generating unit 180 compares the difference image information of the ship 2 stored in the difference image storage unit 140 with the distance information d of the image compartments stored in the distance storage unit 170, If it is determined to be moving to the fixed port or the fixed ship 1 side, an alarm is generated step by step.

The distance storage unit 170 stores the position information on the image divided by the image dividing unit 150 at a predetermined interval and the distance between the fixed port where the camera 110 is installed or the sea surface indicated by each position on the image from the fixed ship 1 The distance d can be mapped and stored.

Referring to FIG. 4, the distance storage unit 170 maps and stores the distance d to the sea level indicated by the corresponding position on the image and stores the distance to the sea level indicated by the coordinate value of the difference video image d) can easily be obtained. Since the position on the image divided by the constant interval increases or decreases only up or down, the X-axis value can be set to '0' or all the same value, and the Y-axis value is set differently.

The alarm generator 180 grasps the positional information on the image corresponding to the coordinate value of the difference image of the ship 2. When the distance d to the sea level indicated by the position on the corresponding image is small, (2) is moved to the fixed port or fixed ship (1) side.

Specifically, the alarm generating unit 180 grasps the positional information on the image close to the Y-axis coordinate value indicating the lower point of the ship 2 among the coordinate values of the difference image with respect to the ship 2, It can be determined that the ship 2 moves to the fixed port or the fixed ship 1 side when the distance d to the sea level indicated by the position on the ship is small.

4, the distance d between the ship 2 approaching from a distance and the fixed harbor or stationary ship 1 is not the upper part of the ship 2 to be docked, but the lower part, that is, This is because the distance (d) can be known by measuring the distance.

The alarm generating unit 180 generates an object confirmation alarm (step 1) upon first confirming the ship 2 through the image acquired by the camera 110. When the distance d is gradually reduced, (Step 2) when it is determined that the ship 2 is approaching the vessel 1, and generates an object proximity danger warning (Step 3) when the vessel 2 is within the specified distance. The designated distance is set by the user and can be changed and refers to a distance at which the ship 2 approaches the fixed ship 1 and there is a risk of collision. When the object proximity danger alarm (level 3) occurs, the siren may also sound. It is a matter of course that each stage alarm can be output to the user's monitor and speaker.

The object size determining unit 190 determines whether the ship 2 is approaching sideways, approaches the athlete or approaches the stern with the difference video image information for the ship 2, The size of the ship 2 is determined with the width information.

The object size determining unit 190 has reference information for determining the approach direction of the ship with the image of the ship 2. By comparing the car image of the ship with the corresponding reference information, it is possible to know whether the ship 2 is approaching sideways, approaching the athlete or approaching the stern. In addition, the size of the ship 2 is determined with the length or width information of the ship 2 represented by the differential image, and the size of the ship 2 is determined as 10, 20, 30, 40, 50, , And 100, respectively.

The alarm generating unit 180 divides the size of the ship 2 determined by the object size determining unit 190 into a plurality of classes and applies a designated distance for generating an object proximity risk alarm differently according to each class. When the size of the ship 2 is large, it is safe to keep the designated distance for generating the object proximity danger alarm long because the approach speed may be fast. When the size of the ship 2 is small, It would be fine to keep the specified distance a little shorter.

Referring to FIG. 5, a safety eyepiece method using a camera image according to the present invention will be described.

First, in step S510, an image of a sea in a fixed port or a view angle of a camera installed on the fixed ship 1 is divided into images at regular intervals from top to bottom.

Next, an angle (?) At which a line segment extending from the sea level surface divided from the divided sea level to the camera 110 and the vertical axis of the camera 110 installed in the fixed port or the fixed ship 1 is stored (S520).

Next, the distance from the fixed port where the camera 110 is installed or the position of the sea surface divided from the fixed vessel 1 to the image partitioned by using the angle θ for each sea surface position and the height h from the sea surface to the camera The distance d is calculated and stored (S530).

Specifically, the step of calculating and storing the distance d (S530) may include the step of calculating the distance d from the fixed position where the camera 110 is installed or the position information on the image divided from the fixed ship 1 (D) to the sea level indicated by each location is mapped and stored.

Next, the camera 110 receives the real-time image frame, and detects the ship 2 through the car image, morphology opening, and expansion calculation (S540).

Next, the sensed difference image information is stored (S550).

Finally, when it is determined that the ship 2 is moved to the fixed port or the fixed ship 1 side by comparing the difference image information of the stored ship 2 with the stored distance d of the image segment, (S560).

The step of generating an alarm (S560) is a step of acquiring the positional information on the image corresponding to the coordinate value of the difference image of the ship 2 and determining whether the distance d to the sea level indicated by the position on the corresponding image is small It can be determined that the ship 2 is moving to the fixed port or the fixed ship 1 side.

In step S560, the position information on the image close to the Y-axis coordinate value indicating the lower point of the ship 2 among the coordinate values of the difference image with respect to the ship 2 is obtained, It is possible to determine that the ship 2 moves to the fixed port or the fixed ship 1 side when the distance d to the sea level indicated by the position of the ship 2 is small.

The alarm generating step S560 generates an object confirmation alarm (step 1) at the first confirmation of the ship 2 and generates an object movement alarm (step 2) when it is determined that the ship 2 is approaching, (3) if the ship 2 falls within a specified distance, and whether the ship 2 is approaching sideways with the car image image information about the ship 2, Determines the size of the ship with the front-to-rear length or width-width information of the ship 2, divides the size of the determined ship 2 into a plurality of classes, and applies the specified distances differently according to each class . When the object proximity danger alarm (level 3) occurs, the siren may also sound. It is a matter of course that each stage alarm can be output to the user's monitor and speaker.

Detailed explanations are given with reference to FIGS. 1 to 4, so detailed description thereof will be omitted.

The present invention described above is a method of transmitting VFF status information of a ship 2 to an automatic ship identification system (AIS) and transmitting the information of the main line wirelessly. In addition, the digital VHF operating system to be introduced worldwide from 2019 If a digital VHF is manufactured with the functions developed in Korea, it can be operated without additional equipment.

As described above, according to the present invention, it is possible to output an alarm for collision to the safety eyepiece system through the sound and the monitor, to prevent danger even when information on the ship position is not shared with each other, It is a system that can be installed and operated even if it is not. It is also necessary to prepare for the risk of collision even in case of a ship with radar.

It will be understood by those skilled in the art that various changes and modifications may be made without departing from the scope of the present invention.

1 ... fixed vessel
2 ... ship
100 ... Safety eyepiece system of ship using camera image
110 ... camera
120 ... image receiving unit
121 ... camera image DB
130 ... Water Bunch Chapters
140 ... < / RTI >
141 ... car video DB
150 ... image compartment
160 ... angle storage unit
161 ... Angle DB
170 ... distance storage unit
171 ... distance DB
180 ... alarm generating unit
190 ... object size determining section

Claims (10)

A camera installed in a fixed port or fixed ship;
An image receiving unit for receiving an image acquired by the camera;
A physical object sensing unit for sensing a ship through a car image, a morphology opening and an expansion calculation of a real-time image frame received by the image receiving unit;
A difference image storage unit for storing difference image information detected by the object detection unit;
An image dividing unit dividing the image of the sea entering the camera viewing angle at regular intervals from top to bottom;
An angle storage unit for storing an angle (?) Between a line segment extending from each position of the sea surface divided by the image partitioning unit to a camera and a vertical axis of a camera installed on a fixed port or a fixed ship;
The distance from the fixed port where the camera is installed to each position of the sea surface divided from the image dividing section by using the angle (?) For each sea surface position stored in the angle storage section and the height (h) (d); And
The difference image information for the ship stored in the difference image storage unit and the distance information d for each image segment stored in the distance storage unit are compared to determine whether the ship is moving to a fixed port or a fixed ship side. And an alarm generating unit for generating an alarm signal for generating an alarm signal.
The method according to claim 1,
The distance storage unit maps and stores the position information on the image divided by the image dividing unit at predetermined intervals and the distance d from the fixed port where the camera is installed or the fixed surface to the sea surface indicated by the respective positions on the image A safety eyepiece system using a camera image.
3. The method of claim 2,
When the distance (d) to the sea level indicated by the position on the corresponding image is small, when the ship is a fixed port or a fixed ship The safety eyepiece system of the present invention uses the camera image.
The method of claim 3,
The alarm generating unit detects the position information on the image near the Y-axis coordinate value indicating the lower point of the ship among the coordinate values of the difference image for the ship and calculates the distance d to the sea level indicated by the position on the corresponding image, The control unit determines that the ship moves to the fixed port or the fixed ship.
The method according to claim 1,
Wherein the alarm generator generates an object confirmation alarm when the ship is first checked, generates an object movement alarm when it is determined that the ship is approaching, and generates an object proximity danger alarm when the ship is within a specified distance Safety eyepiece system of ship using camera image.
6. The method of claim 5,
An object size determining unit for determining the size of the ship with the information of the ship's image about the ship, determining whether the ship is approaching sideways, approaches the athlete or approaches the stern, Including,
Wherein the alarm generating unit divides the size of the ship determined by the object size determining unit into a plurality of classes and applies the specified distance differently according to each class.
A step of dividing an image of a sea, which is installed in a fixed port or a fixed ship, into a camera viewing angle by dividing the image into a predetermined interval from top to bottom;
Storing an angle (?) At which a line segment extending from the angular position of the sea divided by the image to the camera and the vertical axis of the camera installed at the fixed port or the fixed ship meet;
The distance d from the fixed port where the camera is installed or the fixed ship to each position of the sea level divided by the image is calculated by using the angle θ by each sea level position and the height h from the sea level to the camera Storing;
Receiving a real-time image frame from the camera, sensing a vessel through a car image, a morphology opening, and an expansion calculation;
Storing the sensed difference image information; And
And comparing the difference image information of the stored ship with the distance information d of the stored image segment to generate an alarm in each step when it is determined that the ship is moving to a fixed port or a fixed ship, A Method of Safe Bounding of Ship Using Camera Image.
8. The method of claim 7,
The step of calculating and storing the distance d may include calculating the distance d from the position information on the image divided by the predetermined interval in the image segmentation step and the distance from the fixed port where the camera is installed or the fixed ship to the sea surface indicated by the position on the image, d) are mapped and stored,
The step of generating the alert is to grasp the positional information on the image corresponding to the coordinate value of the difference image of the ship, and when the distance d to the sea level indicated by the position on the corresponding image is small, Or a fixed ship side of the ship.
9. The method of claim 8,
The generating of the alarm may include obtaining positional information on an image close to a Y-axis coordinate value indicating a lower point of the ship among the coordinate values of the difference image for the ship, determining the distance to the sea level indicated by the position on the corresponding image (d) is small, it is determined that the ship moves to the fixed port or the fixed ship side.
8. The method of claim 7,
The alarm generating step generates an object confirmation alarm upon initial confirmation of the ship, generates an object movement alarm when it is determined that the ship is approaching, generates an object proximity risk alarm when the ship is within a specified distance, Determines the size of the ship with the information about the length of the ship or the width of the ship, determines whether the ship is approaching sideways, approaches the athlete or approaches the stern with the difference image information for the ship,
Wherein the determined size of the ship is divided into a plurality of classes, and the specified distance is applied differently according to each class.

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