KR20190108480A - System and method for an autonomous vessel LIDAR for the detection of marine objects - Google Patents

Abstract

The present invention relates to a LIDAR system of an autonomously navigation vessel for detecting a marine object, and a method thereof and, more specifically, to a LIDAR system of an autonomously navigation vessel for detecting a marine object, and a method thereof, wherein the LIDAR system comprises: a main navigation unit (100) configured to generate a navigation route of a vessel by GPS (50); a marine object detection unit (200) configured to detect a marine object by at least one LIDAR sensor (220) and transmit marine object information including a location signal of the detected marine object; a collision avoidance navigation unit (300) configured to compare the navigation route with the location signal and determine whether the location signal exists in the navigation route, generate collision avoidance information when the location signal is determined to exist in the navigation route, and transmit an avoidance navigation signal according to the collision avoidance information; and an autonomous steering unit (400) configured to control at least one of a steering device (410) and a steering gear (420) by receiving at least one of the navigation signal and the avoidance navigation signal. According to the present invention, it is possible to allow safe navigation of the vessel by preventing collision with the marine object.

Description

System and method for an autonomous vessel LIDAR for the detection of marine objects

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a lidar system and method, and more particularly, to detect a marine object using a lidar device that irradiates a laser toward the front of a ship, and to guide a navigation route to avoid a detected marine object. The present invention relates to an autonomous ship lidar system and method for marine object detection that enables safe navigation by preventing collisions with objects.

Recently, due to the development of GPS and various sensors, autonomous driving of a vehicle with a path having the shortest distance can be referred to as a technology that is not difficult.

This is because it is very difficult to adjust the speed or direction immediately because ships have very high inertia because of the characteristics of ships that operate underwater, unlike cars and motorcycles.

In addition, since the sea does not have roads defined as land and is heavily influenced by various variables such as the weather, it is very difficult to operate a scheduled route, and the crew is always on the road to prevent unexpected collisions with other ships and reefs. You have to watch.

In particular, when a large amount of rain or snow falls while the ship is in operation, or a high concentration of fog, smog, yellow dust or fine dust occurs, the visibility is sharply lowered, so even if the crew watches the front, Iii) there is a problem that can be placed in a very dangerous situation that can collide with other unexpected ships and reefs because the object is difficult to detect.

In other words, collision avoidance is essential to the ship's operation. In order to adjust the speed or direction of the ship, the ship's flight path must be predicted in advance to operate the steering wheel or the shift lever in advance.

Therefore, in the present invention, by using the lidar device installed so that the laser is irradiated toward the front of the ship, the marine objects that may exist in other conditions, such as other ships and reefs even in bad weather conditions in advance, through which the steering wheel or shift lever An autonomous ship lidar system and method for marine object detection that enable autonomous operation while avoiding collisions by performing an operation are proposed.

Korea Patent Publication (B1) No. 10-0734814 (Registration date: June 27, 2007)

The present invention has been made to solve the above-mentioned problems of the prior art, by installing a rider device toward the front of the vessel, it is possible to create a marine object that can exist in the front of the vessel in operation as well as in normal weather conditions. It is an object of the present invention to provide a self-driving vessel lidar system and method for marine object detection that can enable safe navigation to prevent collisions with marine objects as the autonomous navigation is possible in a path capable of detecting collisions in advance. It is done.

In order to achieve the above object, the present invention,

A main navigation unit for generating a navigation route of the vessel by GPS; A marine object detection unit for detecting a marine object by at least one lidar sensor and transmitting marine object information including a position signal of the detected marine object; A collision avoidance navigation unit configured to compare and determine the navigation route and the location signal to generate collision avoidance information when the position signal exists in the navigation route, and to transmit an avoidance navigation signal according to the collision avoidance information; And an automatic steering unit that receives at least one of the navigation signal and the avoidance navigation signal to control at least one of the steering device and the steering device.

The marine object detection unit may detect the marine object by selecting a laser irradiated perpendicularly to the direction of gravity among the lasers irradiated by the lidar sensor.

The apparatus may further include a display unit configured to receive and display at least one of the navigation route, marine object information, and collision avoidance information.

The collision avoidance information may include at least one of a collision avoidance path and a collision avoidance ship speed.

The collision avoidance operation unit may further include an alarm transmission unit configured to transmit a collision risk alarm signal when collision avoidance is impossible as a result of comparing and determining the flight path and the position signal.

In addition, the collision risk alarm signal is an internal alarm signal sent to the inside of the ship; External alarm signal to other vessels around; And a control center alarm signal to the maritime traffic control center; It characterized by including at least any one of.

The marine object information may include at least one or more of a position signal, a moving speed, a moving direction, and an object shape information of the marine object. The lidar sensor may be one of Class 1, Class 2, Class 3, and Class 4 lasers. At least one or more outputs are possible, and when the object shape information is detected as a ship, the laser class may be changed according to the distance between the detected ship and the lidar sensor.

In addition, the lidar sensor is disposed toward the front of the ship characterized in that it detects the left and right 180 ° radius based on the movement path of the ship.

The main navigation unit may further include a GPS interworking module that detects sea position coordinates through interworking with the GPS, and an ultrasonic detector disposed under the ship to detect the seabed topography.

On the other hand, the autonomous navigation method using a self-driving ship Lidar system for marine object detection according to the present invention for achieving this object,

A navigation route generation step of generating a navigation route of a ship by GPS and transmitting a navigation signal to the navigation route; A marine object detection step of detecting a marine object by at least one lidar sensor and transmitting marine object information including a position signal of the detected marine object; And comparing and determining the navigation route and the location signal, when the location signal is present in the navigation route, generating collision avoidance information and transmitting an avoidance navigation signal according to the collision avoidance information. It is characterized by.

The method may further include an alarm transmission step of transmitting a collision danger alarm signal when the collision avoidance is impossible as a result of comparing and evaluating the navigation route and the position signal after the avoidance operation guidance step.

The alarm transmission step may include an internal alarm transmission step of transmitting a collision danger alarm signal inside the ship; An external alarm transmission step of transmitting a collision danger alarm signal to another vessel around; And a control center alarm transmission step of transmitting a collision risk alarm signal to the maritime traffic control center. It characterized by including at least any one of.

The navigation path generation step may further include a seabed topography detection step of detecting a seabed topography through an ultrasonic detector while detecting a sea position coordinate of the ship in conjunction with a GPS.

The autonomous ship Lidar system and method for marine object detection according to the present invention as described above,

Pre-detect marine objects that may be present on the ship's front, even in bad weather such as heavy rain or snow, high concentrations of fog, smog, yellow dust or fine dust. Therefore, autonomous operation is possible in a path capable of collision avoidance, so that there is an effect of providing a safe operation to prevent collisions with marine objects.

1 is a view schematically showing an autonomous cruise ship lidar system for marine object detection according to the present invention.
2 is a flowchart schematically illustrating an autonomous navigation method using an autonomous cruise ship Lidar system for detecting a marine object according to the present invention.
3 is a flow chart schematically showing the avoidance operation step.
4 is a configuration diagram schematically showing the configuration of the alarm transmission step.

Advantages and features of the present invention and methods of achieving them will be apparent with reference to the embodiments described below in detail. However, the present invention is not limited to the embodiments disclosed below, but will be implemented in various forms, and only the embodiments are to make the disclosure of the present invention complete, and those of ordinary skill in the art to which the present invention belongs. It is provided to fully inform the scope of the invention, and the invention is defined only by the scope of the claims.

Shapes, sizes, ratios, angles, numbers, and the like for describing the embodiments of the present invention are exemplary and the present invention is not limited. In addition, in describing the present invention, if it is determined that the detailed description of the related known technology may unnecessarily obscure the subject matter of the present invention, the detailed description thereof will be omitted.

In the case where 'comprises', 'haves', 'consists of' and the like mentioned in the present specification are used, other parts may be added unless 'only' is used. In the case where the component is expressed in the singular, the plural includes the plural unless specifically stated otherwise.

In interpreting a component, it is interpreted to include an error range even if there is no separate description.

In addition, in the case of the description of the positional relationship, for example, when the positional relationship between the two parts is described as 'on', 'upper', 'upper', 'next to' and the like, One or more other parts may be located between the two parts unless a 'direct' or 'direct' is used.

And, in the case of the description of the time relationship, for example, when the temporal after-term relationship is described as' after ',' following ',' after ',' before ', or the like,' right 'or' It may also include cases that are not continuous unless direct 'is used.

In addition, although the first, second, etc. are used to describe various components, these components are not limited by these terms. These terms are only used to distinguish one component from another. Therefore, the first component mentioned below may be a second component within the technical spirit of the present invention.

In addition, the 'X-axis direction', 'Y-axis direction' and 'Z-axis direction' should not be interpreted only as geometric relationships in which the relations are perpendicular to each other, and within the range in which the configuration of the present invention can function. It may mean having a wider directionality.

Also, it is to be understood that the term 'at least one' includes all possible combinations that can be presented from one or more related items. For example, the meaning of "at least one of the first item, the second item, and the third item" means not only the first item, the second item, or the third item, but also two of the first item, the second item, and the third item, respectively. It can mean a combination of all items that can be presented from more than one.

The features of the various embodiments of the present invention may be combined or combined with each other, partly or wholly, and various technically interlocking and driving are possible, and each of the embodiments may be independently implemented with respect to each other or may be implemented together in a related relationship. It may be.

Hereinafter, with reference to the drawings will be described an autonomous cruise ship lidar system and method for detecting marine objects according to the present invention.

1 is a view schematically showing an autonomous cruise ship lidar system for marine object detection according to the present invention.

The autonomous ship Lidar system for marine object detection according to the present invention basically includes the main navigation unit 100, marine object detection unit 200, collision avoidance navigation unit 300 and automatic steering unit 400 Can be configured.

The main navigation unit 100 is configured to generate a navigation route of the vessel by the GPS 50 and transmit the navigation signal to the navigation route. Here, the GPS 50 is a configuration for transmitting and receiving location information from the satellite, and since it is a publicly known technique generally used to obtain the navigation route, a detailed description thereof will be omitted.

The main navigation unit 100 is GPS interlocking module 110 for detecting the coordinates of the sea position through the linkage with the GPS 50, and at least one or more ultrasonic detectors 120 are disposed under the ship to detect the seabed topography. It may be configured to include more.

In the case of the GPS interworking module 110, since it is difficult to receive a GPS signal in the water, in consideration of the difficulty in detecting the position or the object in the water, an ultrasonic detector 120 detects an underwater object that is not exposed to the sea. It can be possible to prevent the accident caused by collision.

The navigation signal refers to a signal for automatically controlling at least one or more of the steering device 410 and the steering device 420 so that the ship operates in the navigation route generated by the GPS 50, the navigation signal is the automatic Received by the steering unit 400 is to automatically control at least one or more of the steering device 410 and the steering device 420.

The marine object detection unit 200 detects a marine object by at least one lidar sensor 220, and detects at least one or more of a position signal, a moving speed, a moving direction, and object shape information of the detected marine object. It is a configuration for transmitting marine object information including. On the other hand, the laser irradiated from the lidar sensor 220 should be irradiated horizontally with the ship's movement path to be able to detect more accurate marine objects, because the surface of the sea is uneven due to waves, waves, wind, etc. Is bound to be rocky. In order to solve this problem, the marine object detection unit 200 of the autonomous operating vessel lidar system for marine object detection according to the present invention is a laser irradiated perpendicularly to the direction of gravity of the laser irradiated by the lidar sensor 220. It is characterized by detecting the marine object by screening. For example, there may be a method of excluding a signal of a laser not irradiated perpendicularly to the direction of gravity when irradiated from the lidar sensor 220 as a reception object. In order to enable the sorting of the laser, the marine object detection unit 200 may include a sensor capable of detecting the shaking of the lidar sensor 220 such as a gravity sensor or an inertial sensor.

On the other hand, the lidar sensor 220 used in the autonomous ship Lidar system for marine object detection according to the present invention outputs at least one or more of Class 1, Class 2, Class 3 and Class 4 lasers It can be configured to. Class 1 lasers are lasers designed to prevent human access to laser radiation, which is not dangerous if the laser is irradiated to the human body. Class 2 lasers are generally not dangerous, but long-term direct exposure of the human eye to such lasers. Can be dangerous. Class 3 lasers can be dangerous if directly irradiated with human eyes or hands, feet, etc. Class 3 lasers are classified as Class 3R lasers and Class 3B lasers. Exposure directly to the eye may be dangerous, and Class 3B lasers may be dangerous if irradiated directly on the human body, including the human eye. The Class 4 laser can be dangerous if irradiated directly or indirectly on the human body.

In order to adjust the laser class as described above, when the object shape information is detected as a ship, the marine object detection unit 200 resides in the ship the grade of the laser under investigation according to the distance between the detected ship and the lidar sensor 220. It further includes a lidar sensor control unit 210 for controlling a person to change to a laser level of harmless to the human body, the closer the laser sensor control unit 210 closer to the vessel class 4 => Class 3 => The laser power can be adjusted in the order of Class 2 => Class 1.

The lidar sensor 220 is disposed toward the front of the ship, and may be mounted to the rotating unit to detect a left and right 180 ° radius based on the ship's movement path. The rotating unit may be rotated at predetermined time intervals, and may periodically change the direction of the laser irradiated from the lidar sensor 220.

The collision avoidance navigation unit 300 compares and determines the flight path received from the main navigation unit 100 and the location signal received from the marine object detection unit 200 to determine collision avoidance information when a location signal exists in the flight path. It generates and transmits the avoidance navigation signal in accordance with the collision avoidance information.

The collision avoidance information may include at least one of a collision avoidance path and a collision avoidance ship speed, and the collision avoidance information is transmitted to the automatic steering unit 400, and the automatic steering unit 400 receives the received collision. At least one of the steering device 410 and the steering device 420 is automatically controlled based on the avoidance information.

On the other hand, as described above, the ship is to control the direction and speed by the steering device 410 for adjusting the forward, backward and its speed and the steering gear 420 for adjusting the direction of the ship, the marine object according to the present invention The autonomous ship rider system for detection may include an automatic steering unit 400 for automatically controlling the steering apparatus 410 and the steering apparatus 420.

In addition, the autonomous cruise ship Lidar system for marine object detection according to the present invention is configured to receive and display at least one of the navigation route, position signals and collision avoidance information, so that the crew recognizes the current situation of the vessel in autonomous operation It may further include a display unit 500 to enable.

In addition, the autonomous ship Lidar system for detecting a marine object according to the present invention may be configured to further include an alarm transmitter (310). The alarm transmitter 310 is configured to transmit a collision risk alarm signal when collision avoidance is impossible as a result of comparing and determining the flight path and the position signal by the collision avoidance navigation unit 300. The collision risk alarm signal may include at least one of an internal alarm signal sent to the inside of the vessel, an external alarm signal sent to other vessels around the vessel, and a control center alarm signal sent to the maritime traffic control center. The external alarm signal may include at least one of information of a ship sending a signal, position information of a point at which a collision between the ship and a sea object is expected, and information on a time at which a collision is expected. The control center alarm signal may include at least one of information of a ship sending a signal, position information of a point at which a collision between the vessel and a sea object is expected, and information on a time at which a collision is expected. This will help to cope with additional dangerous situations where collisions with offshore objects such as other ships or reefs are inevitable.

Figure 2 is a flow chart schematically showing an autonomous navigation method using a self-driving vessel Lidar system for marine object detection according to the present invention.

On the other hand, the autonomous navigation method using the self-driving vessel Lidar system for marine object detection according to the present invention for achieving this object, basically, the flight path generation step (S100), marine object detection step (S200) and avoidance operation It may include a guide step (S300).

Operation route generation step (S100) is a step of generating a navigation route of the vessel by the GPS (50).

Sea object detection step (S200) is a step of detecting the sea object by at least one or more lidar sensor 220, and transmits the sea object information including the position signal of the detected sea object.

3 is a flow chart schematically showing the avoidance operation step.

In the avoidance operation guide step (S300), when the location signal exists in the navigation path by comparing and determining the navigation route and the location signal, generating collision avoidance information and transmitting the avoidance navigation signal according to the collision avoidance information. to be.

In addition, the autonomous navigation method using the self-driving vessel Lidar system for detecting the marine object according to the present invention may further include an alarm transmission step (S400).

4 is a configuration diagram schematically showing the configuration of the alarm transmission step.

The alarm transmission step (S400) is a step of transmitting a collision danger alarm signal when collision avoidance is not possible as a result of comparing and determining the navigation route and the location signal after the avoidance flight guidance step (S300). The alarm transmission step (S400) is an internal alarm transmission step (S410) for transmitting a collision danger alarm signal inside the ship, an external alarm transmission step (S420) and a maritime traffic control center for transmitting a collision danger alarm signal to other vessels around It may be configured to include at least one or more of the maritime traffic control center alarm transmission step (S430) for transmitting a collision risk alarm signal.

In addition, the operation path generation step (S100) is to further include a seabed topography detection step (S110) for detecting the seabed topography through the ultrasonic detector 120 while detecting the marine position coordinates of the vessel in conjunction with the GPS (50). Can be configured.

While the embodiments of the present invention have been described in more detail, the present invention is not necessarily limited to these embodiments, and various modifications can be made without departing from the spirit of the present invention.

Therefore, the embodiments disclosed in the present invention are not intended to limit the technical idea of the present invention but to describe the present invention, and the scope of the technical idea of the present invention is not limited by these embodiments.

Therefore, it should be understood that the embodiments described above are exemplary in all respects and not restrictive. The scope of protection of the present invention should be interpreted by the claims, and all technical ideas within the scope equivalent thereto should be construed as being included in the scope of the present invention.

50: GPS 100: main navigation
110: GPS interworking module 120: ultrasonic detector
200: marine object detection unit 210: lidar sensor control unit
220: lidar sensor 300: collision avoidance navigation unit
310: alarm transmission unit 400: automatic steering unit
410: steering gear 420: steering gear
500: display unit

Claims (13)

Main navigation unit 100 for generating a navigation route of the vessel by the GPS (50);
A marine object detection unit 200 for detecting a marine object by at least one lidar sensor 220 and transmitting marine object information including a position signal of the detected marine object;
A collision avoidance navigation unit 300 which compares and determines the navigation route and the position signal and generates collision avoidance information when the position signal exists in the navigation route and transmits an avoidance navigation signal according to the collision avoidance information; And
Receiving at least one of the navigation signal and the avoidance navigation signal steering device 410 and the steering device for controlling at least one or more of the steering device 420; Sea object detection for comprising a Autonomous vessel Lidar system.
The method of claim 1,
The marine object detection unit 200 detects the marine object by selecting the laser irradiated perpendicularly to the direction of gravity among the lasers irradiated by the lidar sensor 220 to detect the marine object. Ship lidar system.
The method of claim 1,
And a display unit (500) for receiving and displaying at least one of the navigation route, marine object information and collision avoidance information.
The method of claim 3,
And the collision avoidance information includes at least one of a collision avoidance path and a collision avoidance vessel speed.
The method of claim 1,
When the collision avoidance navigation unit 300 compares the flight path and the position signal as a result of the collision avoidance is impossible, the alarm transmission unit 310 for transmitting a collision risk alarm signal; marine object detection further comprises Self-driving ship lidar system.
The method of claim 5,
The collision risk alarm signal is an internal alarm signal sent to the inside of the ship; External alarm signal to other vessels around; And a control center alarm signal to the maritime traffic control center; Autonomous vessel lidar system for marine object detection, characterized in that it comprises at least one or more of.
The method of claim 1,
The marine object information includes at least one of a position signal, a moving speed, a moving direction, and object shape information of the marine object,
The lidar sensor 220 is capable of outputting at least one or more of Class 1, Class 2, Class 3 and Class 4 lasers,
The marine object detection unit 200 further includes a lidar sensor controller 210 which controls to change the class of the laser under irradiation according to the distance between the detected vessel and the lidar sensor when the object shape information is detected as the ship. An autonomous vessel lidar system for marine object detection.
The method of claim 1,
The lidar sensor 220 is disposed toward the front of the ship autonomously operated vessel lidar system for marine object detection, characterized in that for detecting the left and right 180 ° radius based on the movement path of the vessel.
The method of claim 1,
The main navigation unit 100 includes a GPS interlocking module 110 for detecting the sea position coordinates through interlocking with the GPS 50, and an ultrasonic detector 120 disposed under the ship to detect the seabed topography. An autonomous ship rider system for marine object detection, characterized in that.
A navigation route generation step (S100) of generating a navigation route of the ship by the GPS 50;
A marine object detection step (S200) of detecting at least one marine object by at least one lidar sensor 220 and transmitting marine object information including a position signal of the detected marine object; And
Comparing and determining the navigation route and the location signal, when the location signal exists in the navigation route, generating collision avoidance information and transmitting an avoidance navigation signal according to the collision avoidance information (S300); Autonomous navigation method using a self-driving ship Lidar system for marine object detection, comprising.
The method of claim 10,
After the avoided flight guidance step (S300), if the collision avoidance is not determined as a result of comparing the flight path and the position signal, an alarm transmission step (S400) for transmitting a collision risk alarm signal; Self-driving method using autonomous ship Lidar system for object detection.
The method of claim 11,
The alarm transmission step (S400) includes an internal alarm transmission step (S410) for transmitting a collision risk alarm signal inside the ship; An external alarm transmission step (S420) of transmitting a collision danger alarm signal to another vessel around; And a marine traffic control center alarm transmission step of transmitting a collision danger alarm signal to the marine traffic control center (S430). Autonomous navigation method using a self-driving vessel lidar system for marine object detection, characterized in that it comprises at least any one of.
The method of claim 10,
The operation path generation step (S100) is a seabed topography detection step (S110) for detecting the seabed topography through the ultrasonic detector 120 while detecting the marine position coordinates of the vessel in conjunction with the GPS (50); Self-driving method using autonomous ship Lidar system for marine object detection.

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