KR20190036405A - System and method for supporting ship entering and leaving port using 3d lidar mounted on unmanned aerial vehicle - Google Patents

Abstract

The present invention relates to a ship entry and departure supporting system and method using a three-dimensional LIDAR mounted on an unmanned aerial vehicle and, particularly, to a ship entry and departure supporting system and method using a three-dimensional LIDAR mounted on an unmanned aerial vehicle, in which the unmanned aerial vehicle (i.e., drone) having the three dimensional LIDAR is positioned at the center of the ship when the ship enters or departs a port, berths or unberths, pass a lock gate and navigates a narrow channel, the three-dimensional LIDAR detects sea areas and the surrounding environment near the ship by scanning the whole portion of the ship from the center of the ship by 360 degrees to be positioned at positions difficult to check visually, and the sensed data is corrected considering the viewing angle and altitude data to be provided to a shipping terminal, a land e-navigation center and a land vessel traffic service (VTS) center using a mobile communication network, thereby enabling the ship to navigate safely.

Description

TECHNICAL FIELD [0001] The present invention relates to a system and a method for supporting a ship entering / leaving port using a 3D rider mounted on an unmanned airplane,

[0001] The present invention relates to a system and method for supporting a ship in / out port using 3D ladies mounted on an unmanned airplane, and more particularly, to a system and method for supporting a ship in / Drone) is positioned at the center of the ship and then the entire ship is rotated 360 degrees with respect to the center of the ship and placed in a part difficult to visually recognize, and the 3D sea lidar is used to detect the sea condition and surrounding environment around the ship, (VTS) center by using the mobile communication network to correct the data by considering the viewing angle and altitude data, and to enable the ship to be operated safely. The present invention relates to a system and method for supporting inbound and outbound marine navigation using a 3D lidar mounted on an unmanned airplane.

In general, when a ship enters or leaves a port, does not enter a quay, crosses a barrage, or navigates a riverbed, it is necessary to operate the surrounding environment of the marine environment, harbor structures, features, You need to know.

Korean Patent Laid-Open Publication No. 2013-0096941 discloses an apparatus and a method for supporting a safe operation of a ship. The method for supporting safe navigation of a ship includes the steps of: collecting flight information of the ship; Collecting vessel information of the peripheral vessel through group communication with a predetermined server corresponding to the vessel around the vessel; Converting the chart received from the land server into a form corresponding to the mobile terminal; And applying safe navigation information generated on the basis of the navigation information and the ship information to the converted chart, and providing the application result to the crew through the mobile terminal.

In the conventional method for supporting safe navigation of a ship, the navigation information of the ship is collected by the ship safe navigation device located in the ship, and the ship information of the peripheral ship is collected through group communication with a server corresponding to the ship around the ship It is effective in that it supports the safe operation of small ships not equipped with equipment such as electronic chart information system or automatic identification device because it is provided to ship's crew mobile terminal. However, In case of passing through a locker or navigating a shore, the flight information collected from the ship itself and the ship information of the surrounding vessels were not very helpful for safe navigation and it was necessary to provide information on the surrounding sea conditions and the surrounding environment in real time.

SUMMARY OF THE INVENTION Accordingly, the present invention has been made in view of the above circumstances, and it is an object of the present invention to provide a system and method for realizing the safe operation of a ship, regardless of the size of the ship, And to provide a system and method for supporting inbound and outbound maritime using 3D lidar mounted on an unmanned airplane, which can be provided to a navigation center and a land-based VTS center.

In order to achieve the above object, in accordance with the embodiment of the present invention, a ship entry / exit port support system using a 3D ladder mounted on an unmanned airplane can be provided by an unmanned airplane when the ship enters or exits port, And provides the 3D map information to the onboard terminal, the land-based navigation center, and the land-based VTS center.

In the ship entry / exit port support system using the 3D ladder mounted on the unmanned airplane according to the above embodiment, the unmanned airplane acquires the 3D map image information by irradiating a laser beam to at least one of a port, a quay, a lock, Is 3D configured to provide 3D map image information and viewing angle information; An altitude sensing unit configured to sense an altitude; The 3D map image information and the viewing angle information are received from the 3D renderer, the altitude information sensed by the altitude sensing unit is received, and the 3D map image information is corrected by considering the view angle information and the altitude information, A control unit for outputting image information; And a mobile communication network communication device configured to receive and transmit the corrected 3D map image information from the controller to provide the generated information to the ship terminal, the land navigation center, and the land VTS center.

The ship entry / exit port support system using the 3D line mounted on the unmanned airplane according to the above embodiment includes a ship center position guidance section for generating an induction signal for positioning the unmanned airplane at the center of the vessel, And the unmanned airplane control system may further include an unmanned airplane control system for moving the unmanned airplane to the center position of the vessel and rotating the entire vessel 360 degrees on the basis of the vessel center,

In the ship entry / exit port support system using the 3D ladder mounted on the unmanned airplane according to the above embodiment, the control unit may be connected to the unmanned aerial vehicle control system, the onboard terminal, and the land terminal via the navigation center and the mobile communication network.

According to another aspect of the present invention, there is provided a ship entry / exit port support method using 3D lid mounted on an unmanned airplane according to another embodiment of the present invention, wherein an induction signal for guiding an unmanned airplane ; Moving the unmanned airplane to the ship center position by the unmanned airplane control system according to the induction signal and moving the entire ship 360 degrees with respect to the center of the ship to a position where it is difficult to visually recognize; Acquiring 3D map information by sensing the sea condition and the surrounding environment around the ship by the 3D ladder; Inputting the viewing angle information and altitude information of the unmanned aerial vehicle to the control unit from the 3D lidar and the altitude detection unit; The controller corrects the 3D map information by considering the viewing angle information and altitude information of the unmanned aerial vehicle; And providing the corrected 3D map information to the shipboard terminal, the land-based navigation center, and the land-based VTS center.

According to the present invention, there is provided a system and method for supporting a ship entering / leaving port using a 3D ladder mounted on an unmanned airplane according to an embodiment of the present invention. The system generates an induction signal for guiding the unmanned aircraft to a ship center position, The center of the vessel is rotated 360 degrees around the center of the vessel, and the entire vessel is rotated 360 degrees to move to a position where it is difficult for the user to visually recognize. By detecting the sea circumstance and the surrounding environment around the vessel, 3D map information View angle information and altitude information of the unmanned aerial vehicle are input to the controller from each of the 3D lidar and altitude detection unit, and the controller corrects the 3D map information by considering the viewing angle information and altitude information of the unmanned aerial vehicle, Configured to provide 3D map information to onboard terminals, onshore navigation centers and onshore VTS centers. In this way, there is an excellent effect that information on the surrounding sea area in real time and the surrounding environment of the ship, regardless of the size of the ship, can be provided to the navigation center by the ship and the land.

1 is a block diagram of a ship entry / exit port support system using 3D ladies mounted on an unmanned aerial vehicle according to an embodiment of the present invention.
Fig. 2 is a view showing components mounted on the UAV of Fig. 1;
FIG. 3 is a flowchart illustrating a method of supporting a ship entry / exit port implemented by a ship entry / exit port support system using 3D line mounted on an unmanned aerial vehicle according to an embodiment of the present invention.

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

FIG. 1 is a block diagram of a ship entry / exit port support system using a 3D line mounted on an unmanned airplane according to an embodiment of the present invention, and FIG. 2 is a diagram illustrating components installed in the unmanned airplane of FIG.

As shown in FIGS. 1 and 2, the system for supporting a ship in / out port using a 3D ladder mounted on an unmanned airplane according to an embodiment of the present invention is an unmanned aircraft in a ship navigating to and from a port, (D) to grasp the surrounding sea conditions and the environment surrounding the ship and the ship, and to provide the 3D map information to the shipboard terminal (M), the onshore navigation center (E), and the onshore VTS center (V) . As shown in FIGS. 1 and 2, the ship entry / exit port support system using 3D ladder according to an embodiment of the present invention includes a ship center position guidance unit 100, an unmanned aerial vehicle control system 200, An altitude sensing unit 320, a control unit 330, and a mobile communication network communication equipment 340. Communication between the unmanned airplane D and the unmanned airplane control system 200 uses a mobile communication network. The mobile communication network uses at least one of mobile communication technologies such as LTE / 4G / 5G / 6G. The mobile communication terminal used is a terminal using a connection method such as CDMA, WCDMA, WiBro, WiFi, LTE, LTE-Evolution, WiBroEvolution, and the like.

The ship center position guiding unit 100 generates an induction signal for positioning the unmanned airplane D at the center of the vessel and provides the induction signal to the unmanned airplane control system 200. Meanwhile, although the ship center position guidance unit 100 provides an induction signal to the unmanned aerial vehicle control system 200, it is also possible to provide a direct induction signal to the unmanned air vehicle D and position it at the center of the vessel.

The unmanned airplane control system 200 has a function of remotely adjusting the unmanned airplane D by radio, and in particular, receives an induction signal from the ship center position inducing unit 100 to move the unmanned airplane D to the ship center position, By rotating the entire ship 360 degrees around the center, it is possible to adjust the parts that are difficult to visually recognize. The unmanned aerial vehicle control system 200 may be a device that generates a remote control signal by a user's operation to move the unmanned air vehicle D, or a computer program that generates a corresponding remote control signal at the time of coordinate input.

The 3D lidar 310 acquires 3D map image information by irradiating a laser beam to at least one of a harbor, a quay, a barrage, or a bulwark, and also generates and provides to the control unit 330 It plays a role.

The altitude sensing unit 320 is an altitude sensor that senses the altitude of the unmanned airplane D and outputs the sensed altitude information to the control unit 330.

The control unit 330 receives the 3D map image information and the view angle information from the 3D renderer 310 and receives the altitude information from the altitude sensing unit 320. The 3D map image information is converted into the 3D map image information by considering the view angle information and the altitude information And outputs the precise 3D map image information with the disturbance eliminated by the built-in correction algorithm to the mobile communication network communication device 340. [

The mobile communication network communication equipment 340 routes information generated by routing the corrected 3D map image information (precise 3D map image information from which the disturbance is removed) from the control unit 330 to the line terminal M, And the land VTS center (V). The control unit 330 is connected to the unmanned aerial vehicle control system 200, the onboard terminal M and the land side by the mobile communication network communication equipment 340 via the mobile communication network with the navigation center E so that they can communicate with each other wirelessly.

Hereinafter, a method of supporting a ship in / out port using a ship in / out port support system using 3D ladies mounted on an unmanned airplane according to an embodiment of the present invention configured as described above will be described.

FIG. 3 is a flowchart illustrating a method of supporting a ship entry / exit port implemented by a ship entry / exit port support system using a 3D line mounted on an unmanned airplane according to an embodiment of the present invention, wherein S represents a step.

First, in the ship center position guidance unit 100, an induction signal for guiding the unmanned airplane D to the ship center position is generated and provided to the unmanned airplane control system 200 (S10).

Then, according to the induction signal generated in the ship center position inducing unit 100, the unmanned airplane control system 200 moves the unmanned airplane D to the center position of the vessel, and then rotates the entire vessel 360 degrees on the basis of the vessel center It is moved to a position where it is difficult to visually confirm (S20). The reason why the unmanned airplane (D) is moved to the ship center position is that when the unmanned airplane (D) is in the center position, the unmanned airplane (D) is symmetrical relative to the ship and the ship is sailing on a port, a pier, This is because it is easy to control the navigation of the ship by using the 3D map information acquired through the unmanned airplane (D) at this central position. This is because it is convenient to adjust the left and right spacing of the ship using the 3D map information obtained from the center position of the ship when the ship passes through a narrow port or a lock. In order to use the 3D map information obtained from the side of the ship rather than the center position, it is necessary to perform a complicated process of correcting the captured image at the center position.

Thereafter, 3D map information is acquired by 360 degrees of the ship's surroundings by sensing 3D line 310 mounted on the unmanned airplane D to detect the sea conditions and surrounding environment around the ship (S30).

Then, the viewing angle information and altitude information of the unmanned airplane D are input to the controller 330 from the 3D renderer 310 and the altitude sensing unit 320, respectively (S40).

At this time, the control unit 330 corrects the 3D map information in consideration of the received viewing angle information and the altitude information of the unmanned airplane D (S50), and transmits the corrected 3D map information to the line terminal M, (E) and the on-land VTS center (V) (S60) so that the operator of the ship, such as pilot and captain, can easily grasp the environment around the ship and can safely operate the ship.

According to an embodiment of the present invention, there is provided a system and method for supporting a ship entering / leaving port using a 3D ladder mounted on an unmanned airplane, comprising: generating an induction signal for guiding an unmanned airplane to a ship center position; The center of the vessel is rotated 360 degrees around the center of the vessel, and the entire vessel is rotated 360 degrees to move to a position where it is difficult for the user to visually recognize. By detecting the sea circumstance and the surrounding environment around the vessel, 3D map information View angle information and altitude information of the unmanned aerial vehicle are input to the controller from each of the 3D lidar and altitude detection unit, and the controller corrects the 3D map information by considering the viewing angle information and altitude information of the unmanned aerial vehicle, By providing the 3D map information to the onboard terminal, the land-based navigation center and the land VTS center , It is possible to provide information on the surrounding marine environment in real time and the surrounding environment of the ship at the time of entering and leaving the ship regardless of the size of the ship to the marine navigation center so that the ship can be operated safely.

Although the best mode has been shown and described in the drawings and specification, certain terminology has been used for the purpose of describing the embodiments of the invention and is not intended to be limiting or to limit the scope of the invention described in the claims. It is not. Therefore, those skilled in the art will appreciate that various modifications and equivalent embodiments may be made without departing from the scope of the present invention. Accordingly, the true scope of the present invention should be determined by the technical idea of the appended claims.

D: Unmanned aircraft
100: Ship center position guidance section
200: Unmanned Aircraft Control System
M: Line terminal
E: Athletics navigation center
310: 3D Lada
320: altitude detection unit
330:
340: Mobile communication network communication equipment

Claims (6)

When the vessel enters and exits the port, enters the wharf, navigates through the gate or navigates, the unmanned aircraft grasps the surrounding sea conditions and the surrounding environment of the vessel and provides the 3D map information to the terminal, the navigation center and the land VTS center A system for supporting the inbound and outbound of vessels using 3D lidar mounted on unmanned aircraft. The method according to claim 1,
The unmanned aircraft
A 3D scanner configured to acquire 3D map image information by irradiating a laser beam to at least one of a port, a quay, a barrage, or a bulwark, and to provide the 3D map image information and viewing angle information;
An altitude sensing unit configured to sense an altitude;
The 3D map image information and the viewing angle information are received from the 3D renderer, the altitude information sensed by the altitude sensing unit is received, and the 3D map image information is corrected by considering the view angle information and the altitude information, A control unit for outputting image information; And
3D is installed in an unmanned airplane equipped with mobile communication network communication equipment configured to receive and transmit the corrected 3D map image information from the control unit to the ship terminal, the land navigation center, and the land-based VTS center Supporting System for Incoming and Outgoing Ship using. The method according to claim 1,
A ship center position inducing unit for generating an induction signal for positioning the unmanned airplane at the center of the ship,
The unmanned airplane control system further includes an unmanned airplane control system for receiving the guidance signal from the ship center position guidance unit to move the unmanned airplane to the center position of the ship and rotating the entire ship 360 degrees on the basis of the center of the ship, A system for supporting the inbound and outbound of vessels using 3D lidar mounted on unmanned aircraft. The method of claim 3,
Wherein the control unit is connected to the unmanned aerial vehicle control system, the onboard terminal, and the on-land navigation center through a mobile communication network, and uses the 3D line mounted on the unmanned airplane. A method of supporting inbound and outbound ports using 3D ladies mounted on an unmanned airplane using the inbound / outbound port support system using the 3D line mounted on the unmanned airliner as set forth in claim 3,
Generating an induction signal to guide the UAV to the vessel center position by the vessel center position guidance unit;
Moving the unmanned airplane to the ship center position by the unmanned airplane control system according to the induction signal and moving the entire ship 360 degrees with respect to the center of the ship to a partial position that is difficult to visually identify;
Acquiring 3D map information by sensing the sea condition and the surrounding environment around the ship by the 3D ladder;
Inputting the viewing angle information and altitude information of the unmanned aerial vehicle to the control unit from the 3D lidar and the altitude detection unit;
The controller corrects the 3D map information by considering the viewing angle information and altitude information of the unmanned aerial vehicle; And
And providing the corrected 3D map information to the onboard terminal, the land-based navigation center, and the land-based VTS center. 6. The method of claim 5,
Wherein the control unit is connected to the unmanned aerial vehicle control system, the onboard terminal, the on-land navigation center, and the on-land VTS center and the mobile communication network.

Images