KR20180023352A - Apparatus and method for measuring the draught of the vessel based on nmea using sensor network - Google Patents

Abstract

A method for measuring a draft of a vessel according to one embodiment of the present invention comprises: a step of measuring the distance from a vessel to the water surface by using each sensor installed at least at one draft measurement point of the vessel; a step of collecting measurement values according to measurement of the distance from the vessel to the water surface through a wireless network in real time; a step of calculating draft values by automatically correcting the collected measurement values according to changes in a surrounding environment; and a step of providing the state of the vessel to display the calculated draft values based on an NMEA protocol on a terminal associated with the vessel.

Description

TECHNICAL FIELD [0001] The present invention relates to an NMEA-based ship draft measurement apparatus and method using a sensor network,

The following description relates to the draft measurement technique and relates to a method and apparatus for measuring the draft of a ship.

Draft is measured to determine the weight of cargo unloaded or shipped to ship. The draft can mean the depth of the water from the surface where the floating object is separated by the surface to the deepest point of the object. The weight of the water equivalent to the volume of the object below the waterline becomes buoyancy, and when the buoyancy is equal to the weight of the object, the equilibrium state is maintained.

The draft measurement is very important to maintain the balance of the hull because it can tell the difference of displacement before and after loading or unloading as well as the change of weight of the whole cargo. In order for large ships such as cargo ships to berth in the port, it is necessary to measure seawater conditions such as car, wave, sea water, flow, and water level in the vicinity of the port before the port of entry and inject or discharge seawater into the ballast tanks to ensure safe entry. It is essential to reduce the fluctuation of the center of gravity of the hull by ballasting and to secure the optimized draft.

In measuring the draft, there are many cases of loading and unloading work without berthing at the pier. At this time, after the vessel ladder is fixed to the hull, the navigator goes down the ladder directly, . In addition, there is a method of manually measuring, recording, and confirming using a self-designed measuring instrument at the shipyard.

At present, depending on the method of measuring the draft manually, accidents occur frequently due to falling into the sea during the measurement of the draft in an environment with poor weather conditions such as snow and rain, leading to injury or death. In addition, devices for measuring the draft have difficulty in being sold as a commercial product due to the lack of utilization and convenience of devices such as fixed type or relying on camera images.

Therefore, NMEA based ship draft measurement system using sensor network which eliminates the risk factors that lead to accidents, slips, injuries or deaths depending on the weather conditions, and shortens the measuring time of the draft to improve the work efficiency of the sailors Is required.

Measuring the distance from the ship to the surface using at least one of the sensors installed at at least one draft measurement point of the ship and automatically correcting the measured value according to changes in the surrounding environment to calculate the draft value, It is possible to provide a method and an apparatus for measuring a draft to provide a state of a ship to a terminal.

According to one embodiment, a method for measuring a ship draft includes the steps of measuring the distance from a ship to a water surface using each sensor installed at at least one draft measurement point of the ship; Collecting measurement values according to measurement of the distance from the ship to the water surface through a wireless network in real time; Calculating the draft values by automatically correcting the collected measured values according to the change of the surrounding environment; And providing the state of the vessel to display the calculated draft values on a terminal associated with the vessel based on the NMEA protocol.

According to one aspect of the present invention, the step of measuring the distance from the ship to the water surface by using each of the sensors provided at at least one of the draft measurement points of the ship includes installing six ultrasonic sensors at the draft measurement point of the side part of the ship, And measuring the distance from the line to the water surface from the six ultrasonic sensors.

According to another aspect of the present invention, the step of collecting, in real-time, the measurement values obtained by measuring the distance from the ship to the water surface through the wireless network may include the steps of: And acquiring measured values from each of the sensors through the sensor.

According to another aspect of the present invention, the step of automatically correcting the collected measured values in accordance with a change in the surrounding environment and calculating draft values may include calculating a draft by subtracting the measured values based on a predetermined initial value, Into measurement values.

According to another aspect of the present invention, the step of automatically calculating the draft values by automatically correcting the collected measured values according to a change in the surrounding environment includes calculating a draft value measured in real time according to the fluid environment of the water surface based on the Kalman filter algorithm And deriving the current draft values in conjunction with the draft trend values before a predetermined time.

According to another aspect, providing the condition of the vessel to display the calculated draft values on a terminal associated with the vessel based on the NMEA protocol may include standardizing the draft values based on the NMEA protocol, To the terminal associated with the terminal.

According to another aspect, the step of providing the condition of the vessel to display the calculated draft values on a terminal associated with the vessel based on the NMEA protocol may include monitoring the draft values in real time through a terminal associated with the vessel And generating an alarm or an alarm based on the condition of the ship.

According to one embodiment, the ship draft measuring apparatus includes: a measuring unit for measuring a distance from a ship to a water surface using each sensor installed at at least one draft measurement point of the ship; A collection unit for collecting measurement values according to measurement of the distance from the ship to the water surface through a wireless network in real time; An operation unit for automatically correcting the collected measured values according to a change in the surrounding environment and calculating draft values; And a providing unit for providing the state of the vessel to display the calculated draft values based on the NMEA protocol on a terminal associated with the vessel.

According to one aspect of the present invention, the measuring unit may be provided with six ultrasonic sensors at the draft measuring point of the side portion of the ship, and may measure the distance from the line to the water surface from the six ultrasonic sensors.

According to another aspect, the collecting unit can acquire the measured values from the respective sensors via a wireless network built on at least one access point (AP) installed in the ship.

According to another aspect of the present invention, the operation unit may convert the measured values into draft measurements according to the draft measurement point by subtracting the measured values based on a predetermined initial value.

According to another aspect of the present invention, the arithmetic operation unit may calculate the current draft values based on the Kalman filter algorithm and the measured draft values measured in real time according to the fluid environment of the water surface, have.

According to another aspect of the present invention, the providing unit may standardize the draft values based on the NMEA protocol and provide the displayed values to a terminal associated with the ship.

According to another aspect of the present invention, the providing unit may provide the monitoring unit with monitoring the draft values in real time through a terminal associated with the ship, and may generate an alarm or an alarm based on the state of the ship.

The ship draft measuring apparatus according to an embodiment can improve the safety of a ship by measuring precise draft values in real time. In addition, the ship draft gauge can automatically measure the draft value to prevent safety accidents and improve convenience.

1 is a conceptual development view of a ship draft measurement apparatus according to an embodiment.
2 is a view for explaining a method of measuring a draft in a ship draft measuring apparatus according to an embodiment.
3 is a view for explaining the operation of a ship draft measuring apparatus according to an embodiment.
4 is a block diagram for explaining a configuration of a ship draft measurement apparatus according to an embodiment.
5 is a flowchart illustrating a method of measuring a ship draft of a ship draft measurement apparatus according to an embodiment.
6 is a view for explaining a principle of measuring a distance using an ultrasonic sensor in a ship draft measuring apparatus according to an embodiment.
7 is a structural view for explaining an ultrasonic sensor module of a ship draft measurement apparatus according to an embodiment.
8 is a diagram for explaining the NMEA protocol of the ship draft measurement apparatus according to an embodiment.
9 is a view for explaining a method of correcting draft measurement values by applying a Kalman filter algorithm in a ship draft measurement apparatus according to an embodiment.
10 is a view for explaining an example of providing a ship condition in a ship draft measuring apparatus according to an embodiment.

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

1 is a conceptual development view of a ship draft measurement apparatus according to an embodiment.

(AP WiFi) 120 to the ship draft measuring device (server) through the sensor module 110. The measured values may be transmitted to the ship's draft measuring device (server) through wireless communication (for example, AP WiFi) The vessel draft measuring device can calculate the draft values based on the Kalman filter algorithm as the measurements are collected and provide the monitored draft values 130 based on the NMEA protocol at the terminal associated with the vessel.

3 is a view for explaining the operation of a ship draft measuring apparatus according to an embodiment.

Each ultrasonic sensor 311 may be installed at the draft of the ship. For example, by providing six ultrasonic sensors 311 at the draft measuring point of the side portion of the ship, the distance from the ship to the water surface can be measured. 2 is a view for explaining a method of measuring a draft. In order to measure the draft in the ship 200, a draft measuring point 210 is installed at six standard positions of a side part of the ship, Can be provided. At this time, the respective sensor modules can be mounted on the installed draft measuring point 210. For example, a draft measurement sensor support may be installed to mount the sensor module to the draft measurement point 210 of the vessel 200. The draft sensor supports are applicable to large ships and should be installed in accordance with the standard of the edge guide (steel part) of the ship. It should be rigid enough to be fixed and removed with bolts / nuts for easy detachment. Structure.

More particularly, the draft measurement sensor support may include a bracket support, a sensor fixture, a hull fixture, and a device fixture. At this time, a shock absorber (for example, flanged rubber barring) for preventing the damage of the sensor installed on the ship hull due to the operation of the ship may be attached to all the joints.

The distance from the line to the water surface can be measured from the six ultrasonic sensors 311 at the same time. By measuring the distance from the ship to the water, six measurements can be derived at each draft measurement point. At this time, the distance from the ship to the water surface can be measured in a fixed or mobile manner depending on the measurement method.

The ultrasonic sensor 311 can measure the distance from the line to the water surface and transmit the measured values to the ship draft measuring apparatus 300 through the network 320. [ The measured values measured from the ultrasonic sensor 311 may be transmitted to the ship draft measurement apparatus 300 through the network 320 in the wireless communication 321 (e.g., AP Wi-Fi) environment. For example, four access points (APs) may be built in the ship 310. [ The ship draft measuring device 300 can collect measured values in real time through a wireless network built on at least one access point installed on the ship.

The ship draft measuring device 300 can automatically calculate the draft values by correcting the collected measured values according to the change of the surrounding environment. The ship draft measuring device 300 may convert the measured values to draft values according to the draft measurement point by subtracting the measured values based on a predetermined initial value. For example, if the preset initial value is 15m and the measured value is 5m, the draft value is 10m. The ship draft measuring apparatus 300 can derive the current draft values by interfacing with the draft trend values measured in real time according to the fluid environment of the water surface based on the Kalman filter algorithm before the preset time.

The vessel draft measuring device 300 may provide the ship's state to display the calculated draft values based on the NMEA protocol on the terminal 330 associated with the vessel. The ship draft measuring apparatus 300 may standardize the draft values based on the NMEA protocol and provide it to the terminal 300 associated with the vessel for display. The ship draft measuring device 300 also provides for monitoring the draft values in real time via the terminal associated with the vessel and can generate alarms or alarms based on the condition of the vessel.

FIG. 4 is a block diagram for explaining a configuration of a ship draft measuring apparatus according to an embodiment, and FIG. 5 is a flowchart for explaining a ship draft measurement method of a ship draft measuring apparatus according to an embodiment.

The processor 400 included in the ship draft may include a measuring unit 410, a collecting unit 420, a calculating unit 430, and a supplying unit 440. The processor 400 and the components of the processor 400 may control the vessel draft measuring device to perform the steps 510 to 540 included in the ship draft measurement method of FIG. At this time, the components of the processor 400 and the processor 400 may be implemented to execute an instruction according to code of an operating system and code of at least one program included in the memory. Here, the components of the processor 400 may be representations of different functions performed by the processor 400 in accordance with control commands provided by the program code stored in the vessel draft measurement apparatus 100. [

In step 510, the measuring unit 410 can measure the distance from the ship to the water surface by using each sensor installed at at least one of the draft measurement points of the ship. The measuring unit 410 may be provided with six ultrasonic sensors at the draft measuring point of the side part of the ship and can measure the distance from the line to the water surface from the six ultrasonic sensors.

In step 520, the collecting unit 420 may collect measurement values according to the measurement of the distance from the ship to the water surface through the wireless network in real time. The collecting unit 420 may acquire the measured values from the respective sensors through the wireless network built on the at least one access point (AP) installed on the ship.

In operation 530, the operation unit 430 may calculate the draft values by automatically correcting the collected measured values according to changes in the surrounding environment. The operation unit 430 may convert the measured values to draft values according to the draft measurement point by subtracting the measured values based on a predetermined initial value. The arithmetic operation unit 430 can derive the current draft values based on the Kalman filter algorithm and the measured draft values measured in real time according to the fluid environment of the surface of the water in conjunction with the draft trend values before the predetermined time.

In step 540, the providing unit 440 may provide the status of the vessel to display the calculated draft values based on the NMEA protocol to the terminal associated with the vessel. The maintainer 440 may standardize the draft values based on the NMEA protocol and provide the displayed values to the terminal associated with the vessel. The feeder 440 may provide for monitoring the draft values in real time via the terminal associated with the vessel and may generate an alarm or alarm based on the condition of the vessel.

6 is a view for explaining a principle of measuring a distance using an ultrasonic sensor in a ship draft measuring apparatus according to an embodiment.

The distance from the ship to the water surface can be measured using an ultrasonic sensor. At this time, the ultrasonic sensor may include a speaker 610 for generating ultrasonic waves and a microphone 620 for receiving ultrasonic waves. When a signal (sound, ultrasonic wave) is emitted from the ultrasonic sensor, it is possible to calculate the distance based on the time difference from the echo signal returned from the object (for example, the water surface). At this time, a short resonance frequency is emitted at a predetermined time interval, and the resonance frequency can be propagated at the speed of sound in the atmosphere.

7 is a structural view for explaining an ultrasonic sensor module of a ship draft measurement apparatus according to an embodiment.

The ship draft measuring apparatus may include an ultrasonic sensor module 700 for measuring a distance from a ship to a water surface to measure the draft. At this time, the ultrasonic sensor module 700 may include a battery, a wireless communication module, a sensor control and DAQ board, an ultrasonic sensor (transmitter), and an ultrasonic sensor (receiver).

In the ultrasonic sensor module 700, the wireless communication module provides a measurement value measured from the ship to the water surface to be transmitted to the server through the serial port. At this time, although data can be transmitted to a wireless or wired network, wireless communication will be described as an example. In order to satisfy 2.4GHz communication standard conforming to WiFi standard 802.11b / g / n standard, wireless communication module can realize optimal transmission and reception performance through antenna matching and impedance matching. Especially, there are Dipole, Cable, and Chip as an antenna type that plays an important role in wireless LAN communication, so you can choose an antenna suitable for product performance and product. 10/100 Fast Ethernet MAC and PHY, and supports TCP Server, TCP Client, UDP, DHCP, DNS for WiFi / Ethernet communication. In addition, a wake-up function for low-power communication can be implemented.

At this time, the ultrasound sensor module 700 is mounted on the sea surface above the sea surface or is being sailed. In order to protect the equipment from the external environment, all the components can be concentrated into an integrated structure.

The vessel draft measuring device can collect measured values in real time through wired / wireless communication by measuring the distance from the ship to the water surface. The ship draft measuring device may include a serial communication module including RSC-485 to RSC232 Converter. At this time, the serial communication module can produce WiFi dongle of low power 802.11b / g / n serial communication (RSC-485) and convert serial wired communication signal such as UART to IEEE 802.11 b / g / n wireless LAN protocol. At this time, the gateway dongle function can be connected to the ultrasonic sensor module having the serial interface, and the measured values can be transmitted to the server of the ship's bridge situation room. In addition, the serial communication speed can be set to 9600 bps with the AT command in the WiFi module setting. At this time, Carriage Return (ASCII Code 0x0D) is not transmitted because the AT command processes data based on a character string. When data to be input through serial communication is directly transmitted, it is changed to transparent data mode. After completing the wireless connection and socket connection, you can enter into transparent data mode by AT + EXIT command and enter +++ command when returning to command mode. It can be configured to enable wireless connection and socket connection with the setting value saved without any operation or setting immediately after booting (auto connection mode).

In addition, the NMEA 0183, 2000 Protocol Format can be designed for ship draft measurement devices. The NMEA 0183 protocol, which is often referred to as NMEA, is a standard for transmitting information such as time, location, and orientation. The NMEA 0183 protocol is defined by The National Marine Electronics Association in the United States. The data used are mainly gyro compass, GPS, compass, and inertial navigation system (INS). The NMEA 0183 protocol uses ASCII and serial communication, and the data can be processed and managed through DDS.

The NMEA 0183 Protocol Format uses two ASCII codes 0x20 to 0x7E, 0x0D (CR), and 0x0A (LF), all sentences begin with '$' or '!', End with CR / LF, Is 14 bytes, and the maximum length is 82 bytes. Just before the last CR / LF, there is a 2-byte error check (checksum) followed by an asterisk (*) to separate the Checksum field. Basically 9,600bps, 8bit, No parity, 1 stop bit is used (115,200bps is applicable).

The ship draft measurement device can standardize the draft values based on the NMEA protocol and provide for display on the terminal associated with the vessel. At this time, it is possible to determine the required parameter values according to the equipment requiring the draft values of the ship, and to configure the fields by considering all the necessary data in the format, considering speed and traffic amount. It keeps the format including basic error checking, but it can include alphanumeric characters and special characters in addition to the numbers as needed.

In this case, $ is the start identifier, DRAFT is the ship draft identifier, Data is the measured and corrected date (YYYYMMDD), Time is the measured and corrected time (hh: mm: ss), Value is the corrected draft value (mm) (ddddddd ), Mode can include the applicable method (A: continuous average value, B: low pass filter, C: Kalman filter, D: extended Kalman filter).

Referring to FIG. 8, the interface of the output port of the draft measuring terminal will be described for explaining the connection standard of the NMEA port. The NMEA 0183 cable uses signals A and B and a shielded twisted-pair cable. The NMEA 0183 standard consists of hardware electrical specifications and data formats. At this time, the electric eye standard is one-way communication supporting one-to-one serial communication between Talker (transmission equipment) and Listener (receiving equipment). The Talker uses the RS422 standard and the Listener requires galvanic isolation by photocouplers which protects the circuit from potential differences, surge voltage and noise between the devices. And receive accurate data.

The standard transmission of the interface of the ship equipment is a one-way serial data communication with a speed of 38,400 bps, 1: 1 or 1: n. The connection signal lines A and B and C to match the ground potential difference between Talker and Listeners (to prevent transmission circuit failure) and the shield (to connect only to the transmitting side). The Talker Drive and Listener Receive must conform to the minimum ITU-T V.11 (EIA-422) standard. Terminator resistors can be used, but terminals A, B, and C must be DC-isolated from the main circuit and the ship's ground and power source.

9 is a view for explaining a method of correcting draft measurement values by applying a Kalman filter algorithm in a ship draft measurement apparatus according to an embodiment.

The vessel draft measuring device can calculate the draft values by automatically correcting the collected measured values according to the changes of the surrounding environment. The vessel draft measuring apparatus can apply an average filter, a Kalman filter, a least squares method, etc. to correct a variable measurement value according to the fluid environment of a water surface (for example, waves, etc.).

The ship draft measuring apparatus can derive more accurate current draft values by linking the measured draft values measured in real time with the draft trend values before a predetermined time according to the fluid environment of the water based on the Kalman filter algorithm.

The Kalman filter algorithm has a cyclic linear structure, the algorithm is simple and good in convergence, and can be processed directly in the time domain from the previous spectrum analysis method.

The Extended Kalman Filter (EKF) is often used as the Kalman filter algorithm and is similar to the Linearized Kalman Filter (Linearized KF), but it has the feature of continuously updating the linearization reference point.

The Kalman filter algorithm repeats the prediction and calibration steps. At this time, the Kalman filter algorithm can be classified into a state estimation (x), a prediction step for predicting an error change (P) for estimation, a Kalman gain value estimation (K), a new state estimation by state observation, Calibration steps may be included.

In the Kalman filter algorithm, the measurement noise is represented as a measurement noise in measurement of the draft value, which is always referred to as process noise. This process noise is referred to as process noise, and the process noise (for prediction error) and the measurement noise Weights can be processed using covariance. If the process noise is more dispersed than the measurement noise, the measurement is multiplied by a larger weight. If the process noise is less dispersed than the measurement noise, the predicted value using the model may be multiplied by a larger weight value and updated.

 The Kalman filter algorithm uses the unchanged matrix value and the initial value to obtain the value of the prediction routine. Then, using this value, the Kalman gain and the measured value Z are used to correct the next prediction and correct the process noise variance. The Kalman filter algorithm operates by repeating this process, and it can be separated into two processes, a prediction step and a calibration step.

10 is a view for explaining an example of providing a ship condition in a ship draft measuring apparatus according to an embodiment.

The vessel draft measuring device can provide the condition of the vessel to display calculated draft values based on the NMEA protocol on the terminal associated with the vessel. The ship draft measurement device can standardize the draft values based on the NMEA protocol and provide for display on the terminal associated with the vessel.

At this time, an app may be installed and operated to display the state of the ship on the terminal 1000 associated with the ship. The vessel draft measuring device can implement a data communication medium function through the app and can provide the draft values at the terminal 1000 associated with the vessel for monitoring in real time. For example, the ship draft measuring device can display the draft values of the ship and the draft values corrected through the Kalman filter.

Further, the ship draft measuring apparatus can generate an alarm or an alarm on the terminal 1000 associated with the vessel, based on the condition of the vessel.

The apparatus described above may be implemented as a hardware component, a software component, and / or a combination of hardware components and software components. For example, the apparatus and components described in the embodiments may be implemented within a computer system, such as, for example, a processor, a controller, an arithmetic logic unit (ALU), a digital signal processor, a microcomputer, a field programmable gate array (FPGA) , A programmable logic unit (PLU), a microprocessor, or any other device capable of executing and responding to instructions. The processing device may execute an operating system (OS) and one or more software applications running on the operating system. The processing device may also access, store, manipulate, process, and generate data in response to execution of the software. For ease of understanding, the processing apparatus may be described as being used singly, but those skilled in the art will recognize that the processing apparatus may have a plurality of processing elements and / As shown in FIG. For example, the processing unit may comprise a plurality of processors or one processor and one controller. Other processing configurations are also possible, such as a parallel processor.

The software may include a computer program, code, instructions, or a combination of one or more of the foregoing, and may be configured to configure the processing device to operate as desired or to process it collectively or collectively Device can be commanded. The software and / or data may be in the form of any type of machine, component, physical device, virtual equipment, computer storage media, or device , Or may be permanently or temporarily embodied in a transmitted signal wave. The software may be distributed over a networked computer system and stored or executed in a distributed manner. The software and data may be stored on one or more computer readable recording media.

The method according to an embodiment may be implemented in the form of a program command that can be executed through various computer means and recorded in a computer-readable medium. The computer-readable medium may include program instructions, data files, data structures, and the like, alone or in combination. The program instructions to be recorded on the medium may be those specially designed and configured for the embodiments or may be available to those skilled in the art of computer software. Examples of computer-readable media include magnetic media such as hard disks, floppy disks, and magnetic tape; optical media such as CD-ROMs and DVDs; magnetic media such as floppy disks; Magneto-optical media, and hardware devices specifically configured to store and execute program instructions such as ROM, RAM, flash memory, and the like. Examples of program instructions include machine language code such as those produced by a compiler, as well as high-level language code that can be executed by a computer using an interpreter or the like. The hardware devices described above may be configured to operate as one or more software modules to perform the operations of the embodiments, and vice versa.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments. For example, it is to be understood that the techniques described may be performed in a different order than the described methods, and / or that components of the described systems, structures, devices, circuits, Lt; / RTI > or equivalents, even if it is replaced or replaced.

Therefore, other implementations, other embodiments, and equivalents to the claims are also within the scope of the following claims.

Claims (14)

In the ship draft measurement method,
Measuring the distance from the ship to the water surface using each sensor installed at at least one draft measurement point of the ship;
Collecting measurement values according to measurement of the distance from the ship to the water surface through a wireless network in real time;
Calculating the draft values by automatically correcting the collected measured values according to the change of the surrounding environment; And
Providing the state of the vessel to display the calculated draft values on a terminal associated with the vessel based on an NMEA protocol
Of the ship. The method according to claim 1,
Measuring the distance from the ship to the water surface using each sensor installed at at least one of the draft measurement points of the ship,
Six ultrasonic sensors are provided at the draft measuring point of the side part of the ship and the distance from the line to the water surface is measured from the six ultrasonic sensors
Of the ship. The method according to claim 1,
The step of collecting measured values according to the distance from the ship to the water surface through the wireless network in real-
Acquiring measured values from the respective sensors via a wireless network built on at least one access point (AP) installed in the vessel
Of the ship. The method according to claim 1,
The step of automatically correcting the collected measured values according to the change of the surrounding environment and calculating the draft values,
Converting the measured values into draft measurements according to the draft measurement point by subtracting the measured values based on a predetermined initial value
Of the ship. 5. The method of claim 4,
The step of automatically correcting the collected measured values according to the change of the surrounding environment and calculating the draft values,
Deriving current draft values based on the Kalman filter algorithm in conjunction with the draft trend values measured in real time in accordance with the fluid environment of the sleep surface before a preset time;
Of the ship. The method according to claim 1,
Providing the state of the vessel to display the calculated draft values on a terminal associated with the vessel based on the NMEA protocol,
Standardizing the draft values based on the NMEA protocol and providing the displayed values to a terminal associated with the ship
Of the ship. The method according to claim 6,
Providing the state of the vessel to display the calculated draft values on a terminal associated with the vessel based on the NMEA protocol,
Providing monitoring for the draft values in real time via a terminal associated with the vessel, and generating an alarm or alarm based on the condition of the vessel
Of the ship. In a ship draft measurement apparatus,
A measuring unit measuring the distance from the ship to the water surface by using each sensor provided at at least one draft measurement point of the ship;
A collection unit for collecting measurement values according to measurement of the distance from the ship to the water surface through a wireless network in real time;
An operation unit for automatically correcting the collected measured values according to a change in the surrounding environment and calculating draft values; And
Providing the state of the vessel to display the calculated draft values on a terminal associated with the vessel based on an NMEA protocol,
And a vessel draft measuring device. 9. The method of claim 8,
Wherein the measuring unit comprises:
Six ultrasonic sensors are provided at the draft measuring point of the side part of the ship and the distance from the line to the water surface is measured from the six ultrasonic sensors
Wherein the vessel draft measuring device comprises: 9. The method of claim 8,
Wherein,
And acquiring measured values from the respective sensors via a wireless network built on at least one access point (AP) installed in the ship
Wherein the vessel draft measuring device comprises: 9. The method of claim 8,
The operation unit,
And converts the measured values into draft measurements according to the draft measurement point by subtracting the measured values based on a predetermined initial value
Wherein the vessel draft measuring device comprises: 12. The method of claim 11,
The operation unit,
Based on the Kalman filter algorithm, the measured draft values measured in real time according to the fluid environment of the water surface are interlocked with the draft trend values before a predetermined time to derive the current draft values
Wherein the vessel draft measuring device comprises: 9. The method of claim 8,
Wherein the providing unit comprises:
Standardizes the draft values based on the NMEA protocol and provides the displayed values to a terminal associated with the ship
Wherein the vessel draft measuring device comprises: 14. The method of claim 13,
Wherein the providing unit comprises:
To monitor the draft values in real time via a terminal associated with the vessel, and to generate an alarm or alarm based on the condition of the vessel
Wherein the vessel draft measuring device comprises:

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