KR20200092791A - Navigation system of unmanned ship and method for the same - Google Patents

Abstract

Disclosed are an unmanned system and a method for navigating a ship. According to one embodiment of the present disclosure, the unmanned system for navigating the ship may comprise: a ship device including a driving device and a navigation device and having a sailing device checking or providing sailing information, wherein the movement of the ship device is controlled by the driving device and the navigation device; and an unmanned ship control device checking navigation environment information, navigation information of the ship device, and navigation information of the other ship based on the sailing information, checking the navigation environment information, the sailing information of the ship device, and path index information based on the navigation information of the other ship, setting a navigation path in consideration of the path index information, and generating navigation control information for controlling the driving device and the navigation device based on the navigation path.

Description

Unmanned Ship Operation System and Method {NAVIGATION SYSTEM OF UNMANNED SHIP AND METHOD FOR THE SAME}

The present disclosure relates to an unmanned navigation system, and more particularly, to an unmanned navigation method and apparatus for a ship operating at sea.

Various studies have been conducted to avoid collision of ships, and a method of estimating the collision risk by fuzzy inference using DCPA (Distance of the Closest Point Approach) and TCPA (Time of the Closest Point Approach) as input information It has been proposed, and studies based on this have been continuously conducted.

In particular, in connection with the ship collision avoidance system, there are electronic charts, ship automatic identification devices (AIS), ship navigation simulators and the like. Products related to the electronic chart are being developed by Furuno, JRC, Kelvin Hughes, etc., which display route planning or route monitoring, and other ship information identification or collision prediction information associated with a ship automatic identification device.

Here, the ship automatic identification device is a basic device for grasping information including the position of another ship in the collision avoidance system. The collision avoidance system may receive encrypted information on other ships by using the ship automatic identification device and decode it to analyze the navigation information of the target ship.

The above-described ship collision avoidance system or ship automatic identification device is a device provided as auxiliary information that a user (eg, captain, crew, etc.) refers to when operating a ship.

Furthermore, in order to realize the unmanned navigation of the ship, it must be configured to avoid various risk factors that may occur during the operation of the ship. Unmanned navigation of a ship cannot be realized using the information provided by the above-mentioned auxiliary information providing apparatus.

Accordingly, there is a need for a method and apparatus for recognizing various risk factors that may occur in sailing of a ship and stably performing unmanned sailing.

The technical problem of the present disclosure is to provide a method and apparatus capable of accurately and reliably recognizing various risk factors that may occur in sailing of a ship and realizing unmanned sailing.

The technical problems to be achieved in the present disclosure are not limited to the technical problems mentioned above, and other technical problems that are not mentioned will be clearly understood by those skilled in the art from the description below. Will be able to.

According to one aspect of the present disclosure, an unmanned ship navigation system may be provided. The system includes a driving device and a navigation device, the movement is controlled by the driving device and the navigation device, and the ship device having a navigation device that checks or provides navigation information, and operation environment information, the operation of the ship device Check information, and flight information of other ships based on the navigation information, check the flight environment information, flight information of the ship equipment, and route index information based on the flight information of other ships, and the route index It may include an unmanned ship control device that sets the operation route in consideration of information, and generates operation control information for controlling the driving device and the operation device based on the operation route.

According to another aspect of the present disclosure, a method of operating an unmanned ship may be provided. The method is a method for controlling an unmanned operation of a ship device, a process of checking operation information of another ship based on operation environment information, operation information of the ship device, and navigation information, and the operation environment information and the ship device. A process of establishing a route of operation based on the operation information and the operation information of another ship, and a process of confirming a route of a dangerous situation based on the operation information of the vessel, the operation information of the other ship, and the operation environment information, and the danger condition information In consideration of the above, it may include a process of correcting the operation route and generating operation control information for controlling the driving device and the operation device provided in the ship device based on the operation route.

The features briefly summarized above with respect to the present disclosure are merely illustrative aspects of the detailed description of the present disclosure described below, and do not limit the scope of the present disclosure.

According to the present disclosure, a method and apparatus capable of accurately and reliably recognizing various risk factors that may occur in sailing of a ship and realizing unmanned sailing can be provided.

The effects obtainable in the present disclosure are not limited to the above-mentioned effects, and other effects not mentioned may be clearly understood by those skilled in the art from the description below. will be.

1 is a block diagram showing the configuration of an unmanned ship navigation system according to an embodiment of the present disclosure.
2 is a block diagram showing a detailed configuration of an unmanned ship control device provided in an unmanned ship navigation system according to an embodiment of the present disclosure.
3 is a block diagram illustrating a detailed configuration of a ship condition checking unit provided in an unmanned ship navigation system according to an embodiment of the present disclosure.
4 is a view illustrating an operation in which an operation route setting unit provided in an unmanned ship operation system according to an embodiment of the present disclosure determines an operation route.
5 is a view illustrating a detailed operation of the operation route setting unit included in the unmanned ship operation system according to an embodiment of the present disclosure constituting the operation route.
6 is a flowchart illustrating a sequence of an unmanned ship operation method according to an embodiment of the present disclosure.
7 is a block diagram illustrating a computing system for executing an unmanned ship control apparatus and method provided in an unmanned ship navigation system according to an embodiment of the present disclosure.

Hereinafter, exemplary embodiments of the present disclosure will be described in detail with reference to the accompanying drawings so that those skilled in the art to which the present disclosure pertains can easily carry out the embodiments. However, the present disclosure may be implemented in various different forms and is not limited to the embodiments described herein.

In describing the embodiments of the present disclosure, when it is determined that a detailed description of a known configuration or function may obscure the subject matter of the present disclosure, detailed description thereof will be omitted. In the drawings, parts irrelevant to the description of the present disclosure are omitted, and similar reference numerals are used for similar parts.

In the present disclosure, when a component is said to be "connected", "coupled" or "connected" with another component, this is not only a direct connection relationship, but also an indirect connection relationship in which another component exists in the middle. It may also include. Also, when a component is said to "include" or "have" another component, this means that other components may be further included, not specifically excluded, unless otherwise stated. .

In the present disclosure, the components that are distinguished from each other are for clarifying each feature, and the components are not necessarily separated. That is, a plurality of components may be integrated to be composed of one hardware or software unit, or one component may be distributed to be composed of a plurality of hardware or software units. Accordingly, such integrated or distributed embodiments are included in the scope of the present disclosure, unless otherwise stated.

In the present disclosure, components described in various embodiments are not necessarily essential components, and some may be optional components. Accordingly, an embodiment consisting of a subset of components described in one embodiment is also included in the scope of the present disclosure. In addition, embodiments including other components in addition to the components described in various embodiments are also included in the scope of the present disclosure.

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

1 is a block diagram showing the configuration of an unmanned ship navigation system according to an embodiment of the present disclosure.

Referring to FIG. 1, an unmanned ship navigation system 100 according to an embodiment of the present disclosure may include an unmanned ship control device 110 and a ship device 150.

The unmanned ship control apparatus 110 may generate and provide flight control information for controlling the ship apparatus 150 based on information provided from the ship apparatus 150 and the navigation environment of the ship apparatus 150.

In particular, the unmanned ship control device 110 provides an environment in which the ship device 150 can operate from the origin to the destination without user intervention (eg, a captain). To this end, the unmanned ship control device 110 may check the operation information of the ship device 150, that is, self-operation information, and may check other line operation information in order to prevent the impulse of the ship device 150. In addition, the unmanned ship control device 110 may check operational environment information indicating the operational environment of the marine device 150.

The vessel operation information may include position information, speed information, and bearing information of the ship device 150.

Other ship operation information may include location information of other ship devices, speed information, bearing information of a player, a relative distance between the ship device 150 and other ship devices, and an angle between the ship device 150 and other ship devices. have.

The operating environment information may include seawater temperature, seawater density, wind, waves, tides, floats, buoys, charts, and COLREG regulations.

The ship device 150 includes a driving device (e.g., engine, propeller, auxiliary thruster (Thruster)) 151 that provides driving force necessary for the operation of the device, and a navigation device (e.g., directional key, etc.) that controls the operation of the device ( 153). In particular, the ship apparatus 150 can receive navigation control information provided from the unmanned ship control apparatus 110, control a driving apparatus or a navigation apparatus, and operate a charity based on information generated from the driving apparatus or the navigation apparatus. Information may be provided to the unmanned ship control device 110.

In addition, the ship device 150 may include a navigation device (eg, a radar, AIS, GPS, navigation lights, camera, etc.) 153 for confirming or providing navigation information of a ship, and a navigation device (eg, a radar) , AIS, GPS, navigation lights, cameras, etc.) based on information generated from the 153 may provide the vessel operation information to the unmanned ship control device (110).

Hereinafter, a detailed configuration of the unmanned ship control apparatus 110 will be described with reference to FIG. 2.

2 is a block diagram showing a detailed configuration of an unmanned ship control device provided in an unmanned ship navigation system according to an embodiment of the present disclosure.

The unmanned ship control device 110 may include a flight information confirmation unit 21, a flight environment confirmation unit 23, and a flight control unit 25.

The flight information confirmation unit 21 may provide an environment (eg, a menu, a user interface, etc.) for receiving flight information, and may receive flight information through the above-described environment. For example, the operation information confirmation unit 21 may receive input of ship finances, ship characteristics, origin, destination, port, cargo schedule, cargo amount, and the like.

In addition, the flight information checking unit 21 may be connected to a server device that stores and manages flight environment information through wired/wireless communication, and may receive flight environment information through the above-described server device.

Specifically, the operation information confirmation unit 21 may be connected through a wired/wireless communication with a server device that stores and manages ship specifications, ship characteristics, charts (electronic charts), COLREG regulations, etc. Ship specifications, vessel characteristics, charts (electronic charts), COLREG regulations, etc. can be received. Similarly, the flight information confirmation unit 21 may be connected through a wired/wireless communication with a server device that stores and manages maritime situation information, weather forecast, buoy installation information, and the like, and maritime situation information and weather through the above-described server device. Forecasts, buoy installation information, etc. can be received.

On the other hand, the operation environment confirmation unit 23 can check the vessel operation information and other ship operation information provided from the ship device, and use the above-described operation information and operation environment information together with the ship operation information and other ship operation information, and the dangerous situation. Can predict.

Specifically, the operation environment checking unit 23 may include a charity status checking unit 23a, a ship status checking unit 23b, a navigation environment information checking unit 23c, and a risk situation analysis unit 23d.

The charity status checking unit 23a can check the ship resources, ship characteristics, etc. provided by the operation information checking unit 21. In addition, the vessel status checking unit 23a includes the vessel operation information that is detected in real time as the ship device moves (eg, position, ship speed, forward direction, six-way movement characteristics (surgy, sway, heave, roll, pitch, yaw), etc.) You can check

The ship status check unit 23b includes ship operation information (eg, location information of other ship apparatus, speed information, bearing information of an athlete, relative distance between the ship apparatus and other ship apparatus, ships different from the ship apparatus) provided from the ship apparatus. And angles between devices, etc.).

The detailed configuration and operation of the other wire condition checking unit 23b will be described in detail with reference to FIG. 3 described below.

On the other hand, the operation environment information confirmation unit 23c includes maritime/weather information (e.g., seawater temperature, seawater density, wind, waves, tides, swells, typhoons, etc.), and sea chart information (e.g., depth, reefs, avoided areas, etc.) , It is possible to check operating environment information including floating information (eg, anchored ship, buoy, floating material, etc.). The operation environment information can be confirmed by receiving it from a server device that stores and manages the operation environment information.

The risk situation analysis unit 23d may analyze the risk situation based on the above-described charity operation information, other ship operation information, and operation environment information.

For example, the risk situation analysis unit 23d considers the vessel operation information and the other ship operation information, and the relative distance between the ship apparatus and the at least one other ship, the relative angle between the ship apparatus and the at least one other ship, and The proximity distance between the ship device and the at least one other ship, and the relative time between the ship device and the at least one other ship may be checked. In addition, the risk situation analysis unit 23d may calculate a collision probability between the ship device and the at least one other vessel in consideration of the confirmed result, and analyze the occurrence of a dangerous situation based on the collision probability. For example, when the probability of collision appears higher than a predetermined threshold, the risk situation analysis unit 23d can detect the occurrence of a risk situation.

As another example, the risk situation analysis unit 23d checks the charity operation information and the operation environment information, analyzes a collision with a floating object, enters a reef or an evacuation area, and detects a danger situation based on this. Can.

The navigation control unit 25 sets the route for the ship device to operate, and monitors the ship's own operation information based on the own operation information, other operation information, operation information, and operation environment information, and monitors the operation information of the own vessel and operates the ship device according to the set path. In order to be able to provide flight control information to the ship device.

Specifically, the flight control unit 25 may include a flight path setting unit 25a, a flight path adjustment unit 25b, and a flight tracking control unit 25c.

The operation route setting unit 25a configures at least one candidate route, calculates economic index information, performance index information, and stability index information for the at least one candidate route, and calculates the economic index information and performance index information. And route index information considering stability index information. Then, the operation route setting unit 25a may determine the priority of the at least one candidate route in consideration of the route index information, and may determine the operation route in consideration of the priority.

The operation of the operation route setting unit 25a to determine the operation route will be described in detail with reference to FIG. 4 to be described later.

The flight route adjustment unit 25b may correct the flight route based on the risk situation occurrence information provided by the risk situation analysis unit 23d. For example, the navigation route adjustment unit 25b may generate at least one candidate route to the current location and destination of the own ship, and check route index information for the at least one candidate route. Then, the flight route adjusting unit 25b may determine a candidate route corresponding to a relatively high route index as a corrected flight route.

Furthermore, even if the risk of collision with other ship devices is detected, the operation route adjustment unit 25b corrects the operation route when the ship device has priority over other ship devices according to the COLREG regulation that defines the priority of operation when encountering a ship. It can also be maintained.

As another example, the navigation route adjustment unit 25b provides self-owned navigation information (eg, position, ship speed, forward direction, six-way motion characteristics (surgy, sway, heave, roll, pitch, yaw) provided by the self-owned status checking unit 23a. Etc.), and other ship operation information provided by the ship condition checker 23b (e.g., location information, speed information, bearing information of other ship equipment, relative distance between ship equipment and other ship equipment, and other ship equipment) Angle between ship devices, etc., and operating environment information provided by the operating environment information confirmation unit 23c (sea/weather information (e.g., seawater temperature, seawater density, wind, waves, tides, swells, typhoons, etc.), and Chart information (e.g., depth, reef, evacuation area, etc.), and float information (e.g., anchored ships, buoys, floats, etc.) are updated at predetermined time units, and the updated flight path is corrected to reflect the updated information. Can.

The flight route information or the corrected route information may be provided to the flight tracking control unit 25c, and the flight tracking control unit 25c checks the self-operation information (location, ship speed, heading direction, etc.), and the ship device operates the flight route information. Alternatively, flight control information operated according to the corrected route information may be generated and provided. Here, the flight control information may include control information for controlling a driving device (eg, engine, propeller, rudder, etc.) provided in the ship device, and control information for controlling navigation lights according to COLREG regulations.

Furthermore, the operation tracking control unit 25c can check whether the vessel device operates along the planned route until reaching the next stop point while checking the operation information (location, ship speed, forward direction, etc.) of the vessel. When it is confirmed to deviate, it is possible to generate and provide control information for controlling the driving device (eg, engine, propeller, rudder, etc.).

In addition, the navigation tracking control unit 25c can continuously estimate the difference between the control information and the route information while continuously monitoring the vessel operation information, and can be used to reduce the error of the navigation performance index using the estimated information.

3 is a block diagram illustrating a detailed configuration of a ship condition checking unit provided in an unmanned ship navigation system according to an embodiment of the present disclosure.

Referring to FIG. 3, the ship status checking unit 30 may include an automatic identification system (AIS) analysis unit 31 and an image analysis unit 32.

The AIS analysis unit 31 may check ship AIS information provided by the ship apparatus, and detect at least one first ship entity from the ship AIS information.

In addition, the ship device may be provided with a camera device, and a captured image photographed through the camera device may be provided to the image analysis unit 32. In response to this, the image analysis unit 32 may analyze the captured image and detect at least one second ship object. Here, the captured image is an image of a surrounding area centered on the ship device, and may be a panoramic image of a 360° area around the ship device.

In particular, the image analysis unit 32 may detect at least one frame included in the captured image of the camera, and extract at least one second ship object from each detected frame. In addition, the image analysis unit 32 confirms the position and size of the at least one second ship object in the frame, and based on the setting information of the camera and the position and size of the at least one second ship object, the ship device and The relative distance of at least one second ship object may be calculated, and the position information of at least one second ship object may be calculated in consideration of the position information of the ship device.

Here, the setting information of the camera may include camera height, angle, direction, lens distortion coefficient of the camera, focal length, and the like.

Furthermore, the image analysis unit 32 considers the configuration information of at least one frame from which the second ship object is extracted, and the position and size in the frame of the second ship object, and the moving distance of the at least one second ship object, It can calculate the movement trajectory, operating speed, etc.

Additionally, a radar device may be provided in the ship device, and the ship status checking unit 23b receives radar information collected by the radar device, and a third ship object based on the received radar information. Radar analysis unit 33 for detecting the may be further included.

Meanwhile, the AIS analysis unit 31, the image analysis unit 32, and the radar analysis unit 33 may detect at least one ship object, respectively, and the characteristics of the source data from which the object is detected (eg, a shaded area, The detected objects may not match due to data loss, data detection timing, etc.). Accordingly, the ship status checking unit 30 may further include a ship object integration unit 34 that integrates objects detected by the AIS analysis unit 31, the image analysis unit 32, and the radar analysis unit 33. have.

The ship entity integration unit 34 calculates a Euclidean difference for a ship entity detected from different source data, and can determine whether the entities are the same entity based on the calculated Euclidean difference. The Euclidean difference can be calculated by integrating the position, size, distance of movement, movement trajectory, and operation speed of the ship object.

The ship entity integration unit 34 checks the Euclidean difference between the first ship entity and the second ship entity, and determines that the identified Euclidean difference is the same vessel entity if it represents a relatively small value than a predetermined threshold value. However, it can be managed as a single vessel entity. On the other hand, if the identified Euclidean difference is relatively greater than or equal to a predetermined threshold value, the ship object integration unit 34 determines and manages the first ship object and the second ship object as different ship objects. Can.

Furthermore, the criteria used to determine the same vessel entity, that is, the threshold may be variously set in consideration of measurement errors of the AIS device, mechanical measurement errors of the radar device, and image information recognition errors.

Similarly, the ship entity integration unit 34 may determine whether the entities are the same entity by considering the Euclidean difference between the second ship entity and the third vessel entity, and the Euclidean difference between the first vessel entity and the third vessel entity. .

Furthermore, since the detection timing of the source data from which the object is detected may be set differently, the ship status checking unit 30 considers the detection timing of the source data from which the object is detected, and the source data (that is, a photographed image frame, a ship) Source data synchronization unit 35 for synchronizing the detection timing of AIS information, rater information) may be further included.

Furthermore, even if the source data (ie, photographed image frames, ship AIS information, and rater information) are synchronized, there may be source data whose detection time points do not match. Accordingly, the source data synchronization unit 35 extracts only source data having a matching detection time point and provides the data to the AIS analysis unit 31, the image analysis unit 32, and the radar analysis unit 33, respectively. have. Accordingly, the efficiency and reliability of the ship object of the AIS analysis unit 31, the image analysis unit 32, and the radar analysis unit 33 can be increased.

4 is a view illustrating an operation in which an operation route setting unit provided in an unmanned ship operation system according to an embodiment of the present disclosure determines an operation route.

The operation route setting unit 25a can check the ship resources, ship characteristics, departure place, destination, destination port, unloading schedule, unloading amount, etc. input from the operation information confirmation unit 21, based on the source, destination, destination port Thus, at least one candidate path may be configured (401).

In addition, the operation route setting unit 25a may check the economic index, performance index, stability index, and the like for each candidate route.

Specifically, the operation route setting unit 25a includes the operation cost required to operate from the origin of the at least one candidate route to the destination, the cost required to dock the destination from the destination of the at least one candidate route to the port, and the at least one The economic index information may be calculated in consideration of the berthing cost including the cost of waiting for the berth at the destination of the candidate route, and the unloading cost required to unload cargo at the port of the at least one candidate route. At this time, the operation route setting unit 25a may calculate economic index information by applying weights to the operation cost, docking cost, and loading cost (402).

Since the external force applied from the outside of the ship, such as wind, waves, swell, and tide, has a great influence on the ship's resilience and wave tuning performance, such that the ship does not overturn, the route setting section 25a sets the ship for safe operation. Stability index information can be calculated based on the six-character motion characteristics (surgy, sway, heave, roll, pitch, yaw) representing the dynamic characteristics of (403).

Seawater density, seawater temperature, wind, waves, tidal currents, swells, etc. can affect the ship's operation at the desired speed and direction, and additional resistance is generated by these factors, and this additional resistance depends on the ship's operating performance. It can affect. In consideration of this, the operation route setting unit 25a may calculate additional resistance based on operational environment information for efficient operation, and determine performance index information on ship speed or turning force of the ship device due to the calculated additional resistance ( 404).

Then, the route setting unit 25a may calculate a route index that comprehensively considers economic index information, stability index information, performance index information, and the like (405). The path index can be calculated using an ensemble function defined in Equation 1 below.

Here, k includes possible routes from 1 to n, and the weight can be set in advance using a predefined route determination condition and a past flight history so that the sum of the weights is 1.

Although, in an embodiment of the present disclosure, it is illustrated that the route index is calculated in consideration of economic index information, stability index information, performance index information, and the like, but the present disclosure is not limited thereto. The factors reflected in the calculation of the route index can be variously changed.

Meanwhile, if a route index for each of the at least one candidate route is calculated, the route setting unit 25a may determine the priority of the candidate route by feeling the calculated route index (406 ). Then, the flight route setting unit 25a may determine the flight route according to the determined priority. For example, the flight route setting unit 25a may determine a candidate route indicating a relatively high priority as the flight route (408).

Additionally, the flight route setting unit 25a may determine the flight route in consideration of the risk situation information provided by the risk situation analysis unit 23d (407). For example, the operation route setting unit 25a may provide at least one candidate route to the risk situation analysis unit 23d to request analysis of the risk situation, and the risk situation analysis unit 23d may provide other ship operation information and operation environment Risk situation information of at least one candidate route may be analyzed based on the information. Then, the risk situation analysis unit 23d may provide the risk situation information for at least one candidate route to the flight route setting unit 25a.

When at least one candidate route shows a collision risk or an entry into a dangerous area, the operation route setting unit 25a may exclude the corresponding candidate route from the determination of the operation route.

Furthermore, the operation route setting unit 25a compares other ship operation information and COLREG regulations when at least one candidate route has a collision risk, and when priority is given to the ship's own device on the candidate route, operates the corresponding candidate route It can also be used to determine the route.

5 is a view illustrating a detailed operation of the operation route setting unit included in the unmanned ship operation system according to an embodiment of the present disclosure constituting the operation route.

The route from the origin to the destination may be configured in a straight line, but may include a plurality of waypoints, and a plurality of waypoints connected, depending on other line operation information or operation environment information. However, since the above-mentioned waypoint is a point set for the operation of the ship apparatus, it is not necessary to set a flight route to pass the point. Therefore, in order to set an efficient operation route, the operation route setting unit 25a may set a navigation section corresponding to a stop point.

For example, as illustrated in FIG. 5, when the ship apparatus passes from the waypoint 1 501 to the waypoint 2 502, and moves to the waypoint 3 503, the flight route setting unit 25a is Set the first flight section (leg1) from stop point 1 (501) to stop point 2 (502), and set the second flight section (leg2) from stop point 2 (502) to stop point 3 (503). Can. At this time, the operation route setting unit 25a may set the rotation section 510 in consideration of the rotational radius of the ship device with reference to the specification information of the ship device and the operation environment information.

6 is a flowchart illustrating a sequence of an unmanned ship operation method according to an embodiment of the present disclosure.

An unmanned ship operation method according to an embodiment of the present disclosure may be performed for the aforementioned unmanned ship control apparatus.

First, the unmanned ship control device may set flight information (S601). For example, the unmanned ship control device may provide an environment (eg, a menu, a user interface, etc.) for receiving operation information, and through the above-described environment, operation information (eg, ship resources, ship characteristics, origin, destination, Port, loading schedule, loading quantity, etc.) can be input.

On the other hand, the unmanned ship control device can check the vessel operation information and other ship operation information provided from the ship apparatus (S602).

That is, the unmanned ship control device can check the self-operation information (eg, position, ship speed, forward direction, six-way motion characteristics (surgy, sway, heave, roll, pitch, yaw), etc.) detected in real time by the ship device. In addition, the unmanned ship control apparatus is based on information provided from the ship apparatus, such as ship operation information (eg, location information of other ship apparatus, speed information, bearing information of the athlete, relative distance between the ship apparatus and other ship apparatus, ship apparatus) And the angle between other ship equipments).

The unmanned ship control device can check ship operation information using ship AIS information and a captured image taken through a camera device.

Specifically, the unmanned ship control apparatus may check ship AIS information provided by the ship apparatus and detect at least one first ship entity from the ship AIS information.

In addition, the unmanned ship control apparatus may detect at least one second ship object by analyzing the captured image. Here, the captured image is an image of a surrounding area centered on the ship device, and may be a panoramic image of a 360° area around the ship device.

In particular, the unmanned ship control apparatus may detect at least one frame included in the captured image of the camera, and extract at least one second ship object from each detected frame. And, the unmanned ship control device checks the position and size in the frame of the at least one second ship object, and based on the setting information of the camera and the position and size of the at least one second ship object, the ship device and the at least one The relative distance of the second ship object may be calculated, and the location information of at least one second ship object may be calculated in consideration of the position information of the ship device.

Here, the setting information of the camera may include camera height, angle, direction, lens distortion coefficient of the camera, focal length, and the like.

Furthermore, the unmanned ship control apparatus considers the configuration information of at least one frame from which the second ship object is extracted, and the position and size in the frame of the second ship object, and thus, the moving distance and trajectory of the at least one second ship object. , Operation speed, etc. can be calculated.

Additionally, a radar device may be provided in the ship device, and the unmanned ship control device receives radar information collected by the radar device, and detects a third ship entity based on the received radar information. Can be.

Meanwhile, at least one ship object may be detected based on ship AIS information, photographed image, radar information, etc., depending on the characteristics of the source data (eg, shaded area, data loss, data detection timing, etc.) from which the object is detected. Detected individuals may not match. Accordingly, the unmanned ship control apparatus may perform an operation of integrating objects detected from different data sources.

The unmanned ship control apparatus calculates a Euclidean difference for a ship entity detected from different source data, and can determine whether the entities are the same entity based on the calculated Euclidean difference.

For example, the unmanned ship control device checks the Euclidean difference between the first ship entity and the second ship entity, and determines that the identified Euclidean difference is the same vessel entity if it shows a relatively small value than a predetermined threshold value. And can be managed as a single vessel entity. On the other hand, if the identified Euclidean difference is relatively greater than or equal to a predetermined threshold value, the unmanned ship control device may determine and manage the first ship object and the second ship object as different ship objects.

Likewise, the unmanned ship control apparatus may determine whether the objects are the same by considering the Euclidean difference between the second ship object and the third ship object, and the Euclidean difference between the first ship object and the third ship object.

Furthermore, since the detection timing of the source data from which the object is detected may be set differently, the unmanned ship control apparatus takes into account the detection timing of the source data from which the object is detected, and the source data (ie, a photographed image frame, ship AIS information, Detection information) can be synchronized.

Furthermore, even if the source data (ie, photographed image frames, ship AIS information, and rater information) are synchronized, there may be source data whose detection time points do not match. Accordingly, the unmanned ship control apparatus may extract only source data having a matching detection time point, and detect the vessel object using only the corresponding data.

Meanwhile, the unmanned ship control device may be connected to a server device that stores and manages operation environment information through wired/wireless communication, and may check operation environment information through the above-described server device (S603).

Specifically, the unmanned ship control device may be connected through a wired/wireless communication with a server device that stores and manages ship specifications, ship characteristics, charts (electronic charts), COLREG regulations, etc. Ship characteristics, charts (electronic charts) and COLREG regulations can be received. Similarly, the unmanned ship control device may be connected through a wired/wireless communication with a server device that stores and manages the maritime situation information, weather forecast, buoy installation information, etc., and the maritime situation information, weather forecast, buoy through the above-described server device. Installation information and the like can be received.

Next, the operation route may be determined based on the above-described operation information of the own vessel, the operation information of the other vessel, and the operation environment information (S604).

For example, the unmanned ship control apparatus configures at least one candidate path, calculates economic index information, performance index information, and stability index information for the at least one candidate path, and calculates the economic index information, the performance index You can check the route index information considering information and stability index information. Then, the unmanned ship control apparatus may determine the priority of the at least one candidate route in consideration of the route index information, and may determine the flight route in consideration of the priority.

Hereinafter, an operation in which the unmanned ship control apparatus determines the operation route will be described in more detail.

The unmanned ship control device can check the checked operation information (that is, inputted boat resources, ship characteristics, origin, destination, destination port, unloading schedule, unloading amount, etc.), and at least one based on the origin, destination, destination port Can configure the candidate path.

In addition, the unmanned ship control device may check the economic index, performance index, stability index, and the like for each candidate route. Specifically, the unmanned ship control apparatus may be operated from a source to a destination of the at least one candidate route, a cost of berthing from the destination of the at least one candidate route to a port, and the at least one candidate route. The economic feasibility index information may be calculated in consideration of the berthing cost including the cost of waiting for the berth at the destination, and the unloading cost required to unload cargo at the port of the at least one candidate route. At this time, the unmanned ship control apparatus may calculate economic index information by applying weights to the operation cost, docking cost, and loading cost.

The external force applied from the outside of the ship, such as wind, waves, swell, and tide, has a great influence on the ship's resilience, wave tuning performance, etc., so that the ship does not overturn, so the unmanned ship control device can control the ship's dynamic characteristics for safe operation. Stability index information can be calculated based on the six-character motion characteristics (surgy, sway, heave, roll, pitch, yaw).

Seawater density, seawater temperature, wind, waves, tidal currents, swells, etc. can affect the ship's operation at the desired speed and direction, and additional resistance is generated by these factors, and this additional resistance depends on the ship's operating performance. It can affect. In consideration of this, the unmanned ship control apparatus may calculate additional resistance based on operational environment information for efficient operation, and determine performance index information on ship speed or turning force of the ship apparatus due to the calculated additional resistance.

In addition, the unmanned ship control apparatus may calculate a route index that comprehensively considers economic index information, stability index information, and performance index information. The path index can be calculated using the ensemble function defined in Equation 1 above.

Although, in an embodiment of the present disclosure, it is illustrated that the route index is calculated in consideration of economic index information, stability index information, performance index information, and the like, but the present disclosure is not limited thereto. The factors reflected in the calculation of the route index can be variously changed.

On the other hand, if the route index for each of the at least one candidate route is calculated, the unmanned ship control apparatus may determine the priority of the candidate route by feeling the calculated route index. In addition, the unmanned ship control apparatus may determine the operation route according to the determined priority. For example, the unmanned ship control apparatus may determine a candidate route representing a relatively high priority as a navigation route.

Additionally, the unmanned ship control device may determine the route of operation in consideration of the risk situation information. For example, the unmanned ship control device may perform risk situation analysis for at least one candidate route, and when at least one candidate route shows a collision risk or an entry into a dangerous area, the corresponding candidate route is determined as the operation route. Can be excluded from.

Furthermore, when at least one candidate route has a collision risk, the unmanned ship control device compares the other ship operation information with the COLREG rule, and when priority is given to the own ship device on the candidate route, determines the candidate route as a route. It can also be used for.

On the other hand, when the flight route is determined as described above, the unmanned ship control device may provide control information capable of controlling the movement of the ship device, and the movement of the ship device may be made by the control information (S605). . As described above, when the movement of the ship device proceeds, the unmanned ship control device may check and update the vessel operation information and the other vessel operation information (S606). The operation of checking the own vessel operation information and the other vessel operation information may be performed as in step S602 described above.

Furthermore, the unmanned ship control apparatus may analyze the risk situation based on the above-described operation information of the vessel, the operation information of the other vessel, and the operation environment information (S607).

For example, the unmanned ship control apparatus takes into account the ship operation information and the ship operation information, and the relative distance between the ship apparatus and the at least one other ship, the relative angle between the ship apparatus and the at least one other ship, and the ship apparatus. The proximity distance of the at least one other vessel, and the relative time between the vessel apparatus and the at least one other vessel may be checked. In addition, the unmanned ship control device may calculate a collision probability between the ship device and the at least one other ship in consideration of the confirmed result, and analyze the occurrence of a dangerous situation based on the collision probability. For example, when the collision probability is higher than a predetermined threshold, the unmanned ship control device can detect the occurrence of a dangerous situation.

As another example, the unmanned ship control apparatus may check the operation information of the vessel and the environment of the vessel, analyze the collision with the floating material, enter the reef or the evacuation area, and detect the occurrence of a dangerous situation based on this.

When the occurrence of a dangerous situation is detected (S607-Yes), the unmanned ship control device may correct the operation route based on the detected dangerous situation (S608). For example, the unmanned ship control apparatus may generate at least one candidate route to the current location and destination of the ship, and check route index information for the at least one candidate route. In addition, the unmanned ship control apparatus may determine a candidate route corresponding to a relatively high route index as a corrected route.

Furthermore, even if the danger of collision with other ship devices is detected, the unmanned ship control device does not correct the operation route when the ship device has priority over other ship devices according to the COLREG regulation that defines the priority of operation when encountering a ship. , You can also keep.

Steps S606 to S608 described above may be repeatedly performed until the ship apparatus reaches the destination (S609).

7 is a block diagram illustrating a computing system for executing an unmanned ship control apparatus and method provided in an unmanned ship navigation system according to an embodiment of the present disclosure.

Referring to FIG. 7, the computing system 1000 includes at least one processor 1100 connected through a bus 1200, a memory 1300, a user interface input device 1400, a user interface output device 1500, and storage 1600, and the network interface 1700.

The processor 1100 may be a central processing unit (CPU) or a semiconductor device that executes processing for instructions stored in the memory 1300 and/or storage 1600. The memory 1300 and the storage 1600 may include various types of volatile or nonvolatile storage media. For example, the memory 1300 may include read only memory (ROM) and random access memory (RAM).

Thus, steps of a method or algorithm described in connection with the embodiments disclosed herein may be directly implemented by hardware executed by the processor 1100, a software module, or a combination of the two. The software modules reside in storage media (ie, memory 1300 and/or storage 1600) such as RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disk, removable disk, CD-ROM. You may. An exemplary storage medium is coupled to the processor 1100, which can read information from and write information to the storage medium. Alternatively, the storage medium may be integral with the processor 1100. Processors and storage media may reside within an application specific integrated circuit (ASIC). The ASIC may reside in a user terminal. Alternatively, the processor and storage medium may reside as separate components within the user terminal.

Exemplary methods of the present disclosure are expressed as a series of operations for clarity of description, but are not intended to limit the order in which the steps are performed, and each step may be performed simultaneously or in a different order if necessary. In order to implement the method according to the present disclosure, the steps illustrated may include other steps in addition, other steps may be included in addition to the remaining steps, or other additional steps may be included in addition to some steps.

Various embodiments of the present disclosure are not intended to list all possible combinations, but are intended to describe representative aspects of the present disclosure, and the items described in various embodiments may be applied independently or in combination of two or more.

In addition, various embodiments of the present disclosure may be implemented by hardware, firmware, software, or a combination thereof. For implementation by hardware, one or more Application Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), Digital Signal Processing Devices (DSPDs), Programmable Logic Devices (PLDs), Field Programmable Gate Arrays (FPGAs), Universal It may be implemented by a processor (general processor), a controller, a microcontroller, a microprocessor.

The scope of the present disclosure includes software or machine-executable instructions (eg, operating systems, applications, firmware, programs, etc.) that cause an operation according to the method of various embodiments to be executed on a device or computer, and such software or Instructions include a non-transitory computer-readable medium that is stored and executable on a device or computer.

Claims (20)

In the unmanned ship navigation system,
A ship device including a driving device and a navigation device, the movement being controlled by the driving device and the navigation device, and having a navigation device for checking or providing navigation information,
Route information based on the operation environment information, operation information of the ship device, and other ships based on the navigation information, and the route based on the operation environment information, operation information of the ship device, and operation information of other ships And an unmanned ship control device that checks the index information, sets the operation route in consideration of the route index information, and generates operation control information for controlling the driving device and the operation device based on the operation route. Unmanned ship operating system.
According to claim 1,
The unmanned ship control device
Construct at least one candidate path,
And a flight control unit for calculating economic index information, performance index information, and stability index information for the at least one candidate route, and checking route index information considering the calculated economic index information, performance index information, and stability index information. Unmanned ship operating system, characterized in that.
According to claim 2,
The flight control unit
Priority of the at least one candidate path is determined in consideration of the route index information,
And an operation route setting unit for determining the operation route in consideration of the priority.
According to claim 3,
The flight control unit
Check the operation information of the ship device and the operation information of other ships,
And an operation route adjustment unit for correcting the operation route in consideration of the checked operation information of the ship device and operation information of other ships.
According to claim 2,
The flight control unit
The operating cost required to operate from the origin of the at least one candidate route to the destination,
A berthing cost including a cost of berthing from a destination of the at least one candidate route to a port and a cost of waiting for a berth at the destination of the at least one candidate route, and
Economical index information is calculated in consideration of the unloading cost required to unload cargo at the port of the at least one candidate route,
An unmanned ship operation system characterized by calculating economic index information by applying weights to the operation cost, docking cost, and unloading cost.
According to claim 2,
The navigation control unit,
An unmanned ship operation system characterized by calculating stability index information in consideration of the six-way motion characteristics of the ship device.
According to claim 2,
The flight control unit
An unmanned ship operation system characterized by calculating route index information by applying predetermined weights to the economic index information, performance index information, and stability index information.
According to claim 2,
The unmanned ship control device
And at least one other vessel based on the vessel's Automatic Identification System (AIS) information and the captured image of the camera provided in the vessel apparatus, and a navigation environment confirmation unit for confirming the operation information of the at least one other vessel Unmanned Ship Operation System.
The method of claim 8,
The operation environment confirmation unit,
An AIS analysis unit for detecting a first ship entity based on the vessel AIS information,
And a ship status checking unit having an image analysis unit for detecting a second ship object based on the photographed image.
The method of claim 9,
The other wire condition check unit,
Check whether the first and second ship objects are the same object,
An unmanned ship operation system comprising a ship object integration unit for determining a ship object in consideration of a confirmation result.
The method of claim 10,
Said vessel object integration unit,
An unmanned ship navigation system, characterized in that it calculates Euclidean differences between the first and second vessel entities and determines whether the first and second vessel entities are the same entity based on the calculated Euclidean differences.
The method of claim 9,
The other wire condition check unit,
And a radar analysis unit for detecting a third vessel entity based on radar information collected by a radar device.
The method of claim 8,
The operation environment confirmation unit,
In consideration of the operation information of the at least one other vessel, the relative distance between the vessel apparatus and the at least one other vessel, the relative angle between the vessel apparatus and the at least one other vessel, the vessel apparatus and the at least one other Confirm at least one of the proximity distance of the ship and the relative time between the ship apparatus and the at least one other ship,
And a risk situation analysis unit for calculating a collision probability between the ship device and the at least one other ship in consideration of the confirmed result.
The method of claim 9,
The image analysis unit,
Detecting at least one frame included in the captured image of the camera,
Extracting at least one second ship object for each of the detected at least one frame,
Confirm the position and size in the frame of the at least one second ship object,
Based on the setting information of the camera and the position and size of the at least one second ship object, a relative distance between the ship device and the at least one second ship object is calculated,
Unmanned ship operation system, characterized in that for calculating the location information of the at least one second ship object in consideration of the location information of the ship device.
The method of claim 14,
The setting information of the camera,
An unmanned ship navigation system comprising at least one of a camera height, an angle, a direction, a lens distortion coefficient of the camera, and a focal length.
The method of claim 14,
The image analysis unit,
In consideration of the configuration information of the at least one frame from which the second ship object is extracted, and the position and size in the frame of the second ship object, a moving distance, a trajectory, and operation of the at least one second ship object Unmanned ship operating system, characterized in that for calculating at least one of the speed.
In the method of controlling the unmanned operation of the ship equipment,
A process of checking operation information of another ship based on the operation environment information, the operation information of the ship device, and the navigation information,
The process of establishing a flight route based on the operation environment information, the operation information of a ship device, and the operation information of another ship,
A process of identifying a route of a dangerous situation based on the operation information of the ship, the operation information of the other ship, and the operation environment information,
A process of correcting the flight route in consideration of the dangerous situation information,
And generating operation control information for controlling a driving device and a navigation device provided in the ship device, based on the operation route.
The method of claim 17,
The process of setting the operation route,
Constructing at least one candidate path,
And calculating economic index information, performance index information, and stability index information for the at least one candidate path, and checking route index information considering the calculated economic index information, performance index information, and stability index information. Unmanned ship operation control method characterized by.
The method of claim 17,
The process of checking the route index information,
Cost of operation required to operate from the origin of the at least one candidate route to the destination, the cost of docking the destination from the at least one candidate route to the port, and the cost of waiting for the docking at the destination of the at least one candidate route Economical index information is calculated in consideration of the berth cost including and the unloading cost required to unload cargo at the port of the at least one candidate route, but the economical efficiency is applied by applying weights to the aviation cost, berthing cost, and unloading cost Unmanned ship operation control method comprising the step of calculating the index information.
The method of claim 17,
The process of confirming the operation information of the other vessel,
Detecting a first ship entity based on the vessel automatic identification system (AIS) information,
Detecting a second vessel object based on a panoramic image photographed through a camera device provided in the ship device;
And determining whether the first and second ship objects are the same object and determining the ship object.

Images