KR20200120839A - Auto-Piloting Unmanned Ship Having Seabed Soil Collection Apparatus - Google Patents

Abstract

Disclosed is an autonomous vessel including a marine soil collecting device. In particular, an autonomous vessel according to one embodiment of the present invention is an autonomous vessel which collects contaminated soil deposited on the bottom of a reservoir, a river or an ocean, and comprises: an environmental data detection unit detecting weather data in the region at which an autonomous vessel is located, location and seaway data of other vessels sailing nearby, and coordinate data of obstacles located nearby at each predetermined cycle to deliver the same to an autonomous driving control unit; the autonomous driving control unit calculating the optimal sailing route based on the data acquired from the environmental data detection unit and the location data of the contaminated soil to be collected; a marine soil collecting device including a structure to collect contaminated soil deposited on the seabed, and having a seabed filming device and a seabed water quality detection device; and a collecting device control unit controlling the operation of the marine soil collecting device based on the data acquired through the seabed filming device and the seabed water quality detection device mounted on the marine soil collecting device. Therefore, provided is the autonomous vessel, which is constructed to effectively collect contaminated soil.

Description

Auto-Piloting Unmanned Ship Having Seabed Soil Collection Apparatus}

The present invention relates to an autonomous vehicle, and more particularly, to an autonomous vehicle including a subsea soil collection device.

In general, in order to conduct marine and fishery resource development and management, bioengineering research for the development of pharmaceuticals and new substances, and research on the impact of aquatic ecosystems related to climate change and environmental pollution, it is necessary to secure necessary sample collection technology.

Until now, the collection technology and equipment mainly used in the sea is to collect samples from a long distance by connecting the collection equipment to a long line on board the ship to a depth of several tens to several thousand meters, or to collect samples from a distance in the case of shallow water. In most cases, a sample was collected by entering the water with a.

In the case of onboard collection, box corers, sediment grabs, trawls, nets, etc. are used in most cases.In these cases, the accuracy of the sample collection location is degraded because the collection is attempted from a distance by descending a long line from the ship to the seabed. There is a drawback that it is impossible to collect selectively.

In addition, in the case of sampling by a diver, it is possible to selectively collect by the diver's judgment, but there is a limitation on the dive time, and all judgments must be made by the diver alone, and there is a disadvantage that it is impossible to work on the seabed above the diving depth.

In this regard, a technology for collecting soil deposited on the seabed using an unmanned ship has been developed.

An unmanned ship, that is, a drone ship, refers to a ship that can automatically navigate a designated route without a crew and, if necessary, control the navigation and engine parts (e.g., engines, rudders) from a remote control control center. .

1 is a schematic diagram showing an unmanned ship according to the prior art. As shown in Figure 1, in the case of the unmanned ship 11 according to the prior art, a video camera 19 and a lighting device 25 for a forward observation, or if necessary, a loudspeaker 23 and a defense weapon 24 on the water surface. Is installed, and direction keys (16) are installed to change the rotation and direction, and the image data and position coordinates of the seabed and sea measured by the ship are transmitted wirelessly to the mother ship or land management server in real time, and the mother ship or land management A wireless transmission/reception antenna 13 and a wireless transceiver are installed to receive the control signals transmitted from the server, and a DGPS receiver 12 is installed that measures the current position of the ship in real time.

On the other hand, on the ground, a remote control control center for remote control of an unmanned ship and fleet is required, and in order to solve technical and legal problems, the captain and the head of the engine must directly perform command and control at the remote control control center.

Conventional ships perform voyage plans, monitor surrounding environments, control various equipment, maneuver an unmanned ship, and communicate with other ships. These skills are of high difficulty and must be performed by crews with specialized training.

However, due to the risk of maritime accidents, it is difficult to maintain and operate advanced sailors who have been trained in high-level skills, and the number of advanced sailors is decreasing, and for this reason, accidents due to crew mistakes are increasing rapidly. In addition, in the case of a ship accident, there is a great influence such as loss of life or environmental destruction. Also, due to the imbalance in supply and demand, seafarer wages are increasing.

In addition, the reduction of fuel costs by tracking the optimal route of the ship is often dependent on the sense of the crew rather than by accurate numerical calculations, so the actual fuel cost reduction is not large.

In addition, in the case of an unmanned ship according to the prior art, there is a problem in that it cannot adequately cope with a collision with other ships that may occur during ship operation and changes in natural environment.

Therefore, there is a need for a technology capable of solving the problems according to the prior art mentioned above.

Korean Patent Registration No. 10-0734814 (registered on June 27, 2007)

It is an object of the present invention to provide an autonomous vehicle including a configuration capable of effectively collecting contaminated soil.

An autonomous vehicle according to an aspect of the present invention for achieving this purpose is an autonomous vehicle that collects contaminated soil deposited on the seabed of a reservoir, river, or sea, and is an area where the autonomous vehicle is located at every preset cycle. An environmental data detection unit that detects weather data, location and route data of other ships sailing in the vicinity, and coordinate data of obstacles located in the vicinity, and then transmits it to the autonomous driving control unit; An autonomous driving control unit that calculates an optimal navigation route based on data obtained from the environmental data detection unit and location data of contaminated soil to be collected; A subsea soil collection device including a structure for collecting contaminated soil deposited on the sea floor, and equipped with an undersea imaging device and a seabed water quality detection device; And a collection device control unit for controlling the operation of the subsea soil collection device based on the data acquired through the seabed photographing device and the seabed water quality detection device mounted on the seabed soil collecting device.

In one embodiment of the present invention, the autonomous driving control unit includes first coordinate data of a location where the autonomous driving ship departs, second coordinate data of a location where contaminated soil to be collected is determined to exist, and the autonomous driving ship. After calculating the shortest traveling route based on the third coordinate data of the location to be regressed, the optimal navigation route can be calculated by modifying the shortest traveling route based on the data acquired through the environmental data detection unit.

In one embodiment of the present invention, the autonomous driving control unit includes external environment data of an autonomous vehicle obtained from the environmental data detection unit, other ship data received from an automatic ship identification device, and a ship received from the ship automatic collision prevention device. Pre-calculated optimal navigation route by predicting the risk of collision between an autonomous vehicle and an obstacle using inter-distance data, and creating an avoidance navigation path to avoid an obstacle predicted to collide if there is a possibility of a collision between the autonomous vehicle and an obstacle. Can be modified.

In an embodiment of the present invention, the autonomous driving control unit includes: a route recalculation determination unit configured to determine whether or not to recalculate a route according to a preset route recalculation condition by analyzing weather information acquired at each preset period; A shortest route determining unit for calculating the shortest route among routes satisfying the change condition included in the route recalculation condition when recalculation is performed; A route change approval unit for determining whether to obtain approval from the ship management system in order to change the currently sailing route to the calculated shortest route, and receiving an approval request and a response to the request when approval is required; And a route change unit for changing a route currently sailing with the calculated shortest route.

In this case, the route change unit is autonomous to avoid collision with other vessels on the optimal navigation route when other vessels that may collide on the optimal navigation route are sailing based on the data obtained from the environmental data detection unit. A first angle formed by a virtual first straight line connecting the traveling ship and other ships, and a second straight line representing the forward navigation path of the other ships is calculated, and based on the calculated first angle, In order to avoid collision, after calculating the change speed of the autonomous ship and the minimum turning angle according to the navigation speed of the autonomous ship and the distance from other ships, the optimal navigation route was modified to control the operation of the autonomous ship. I can.

In addition, the route change unit, based on the data obtained from the environmental data detection unit, is able to avoid collision with other vessels on the optimum navigation route when other vessels that may collide on the optimal navigation route are sailing. It is possible to control the operation of autonomous vessels by modifying the optimal navigation route by reflecting the location data of another contaminated soil that is not located on the vessel's navigation route and is closest to the current navigation route.

In an embodiment of the present invention, the autonomous driving control unit, when the external environment data obtained from the environmental data detection unit is included in a predefined severe environmental condition, evacuates the position of the autonomous driving vessel to a preset safety area, or In addition, it is possible to change the sailing conditions of the autonomous ship to the preset sailing speed and direction.

In this case, the severe environmental condition is a dangerous condition recommended by an International Maritime Organization (IMO), and the dangerous condition may be a combination of a characteristic of an autonomous ship and a weather condition.

In one embodiment of the present invention, the autonomous driving control unit collects weather information for each voyage route generated by using the departure point information and the destination information of the autonomous driving vessel to determine the optimum voyage route with the lowest fuel consumption rate for a predetermined flight time. Can be calculated.

In one embodiment of the present invention, the self-driving ship is selectively subjected to navigation control by a central control center, and the central control center is a monitoring mode for monitoring the navigation status of the self-driving ship, and an abnormal signal is received from the autonomous driving control unit. When received, any one of a warning mode that generates a warning or a remote control mode for remote control of an autonomous ship may be driven as an operation mode.

In this case, the optimal navigation route of the autonomous driving control unit and the central control center may be operated in synchronization with each other.

In an embodiment of the present invention, the subsea soil collection device includes: an opening formed in the center of the bottom of the unmanned ship; A wire winding drum mounted on one side of the autonomous vehicle and winding or unwinding a wire that is raised or lowered through an opening; Two or more washing nozzles mounted adjacent to the opening and disposed to be sprayed toward the center of the opening; And a soil collection unit mounted on one end of the wire, a wireless communication module capable of performing wireless communication with a collection device control unit, and having a storage structure capable of storing contaminated soil deposited on the sea floor. It may be a configuration including.

In addition, the submarine soil water storage unit, a tripod mounted on the hull of the autonomous driving vessel on both sides of the opening, extended to the upper center of the opening, and equipped with a guide of a roller structure guiding the wire in a predetermined direction at the center; It may be a configuration that further includes.

In addition, the subsea soil water storage value, a drum monitoring camera mounted on the hull of the autonomous vehicle, photographing the driving state of the wire winding drum, and transmitting the acquired image data to an operator in real time through a collection device control unit; It may be a configuration that further includes.

As described above, according to the self-driving ship of the present invention, the configuration capable of effectively collecting contaminated soil by having an environmental data detection unit, an autonomous driving control unit, a subsea soil collection device, and a collection device control unit performing a specific role. It is possible to provide an autonomous vehicle including a.

In addition, according to the self-driving ship of the present invention, by providing an autonomous driving control unit that calculates the optimal navigation route based on the data obtained from the environmental data detection unit and the location data of the contaminated soil to be collected, the location of the contaminated soil By recalculating the optimal navigation route calculated based on the data based on the data acquired from the environmental data detection unit and further optimizing it, the work of collecting contaminated soil can be performed more stably and effectively.

In addition, according to the self-driving ship of the present invention, by having a route recalculation judgment unit, a shortest route decision unit, a route change approval unit, and a route change unit that perform a specific role, it is optimal by reflecting the weather information acquired at each preset cycle. Since the navigation route can be changed to a safe navigation route, it is possible to ensure safe navigation of autonomous ships.

In addition, according to the self-driving ship of the present invention, by having a seabed soil collection device including an opening of a specific structure, a wire winding drum, a washing nozzle, and a soil collection unit, contaminated soil deposited on the seabed of a reservoir, river or sea It can provide self-driving ships that can stably collect money.

1 is a schematic diagram showing an unmanned ship according to the prior art.
2 is a block diagram showing an autonomous vehicle according to an embodiment of the present invention.
3 is a perspective view showing an autonomous vehicle according to an embodiment of the present invention.
4 is a front view showing an autonomous vehicle according to an embodiment of the present invention.
5 is a schematic diagram showing a state in which the shortest driving route is calculated through an autonomous driving control unit according to an embodiment of the present invention.
6 is a schematic diagram showing a state in which an optimal navigation route is calculated through an autonomous driving control unit according to an embodiment of the present invention.
7 is a schematic diagram showing a state of calculating a change speed and a minimum turning angle of an autonomous ship through a route change unit according to an embodiment of the present invention.
8 is a schematic diagram showing a state of calculating a change speed and a minimum turning angle of an autonomous vehicle through a route change unit according to an embodiment of the present invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the drawings. Prior to this, terms or words used in the specification and claims should not be construed as being limited to a conventional or dictionary meaning, but should be interpreted as meanings and concepts consistent with the technical idea of the present invention.

Throughout this specification, when a member is said to be located "on" another member, this includes not only the case where the member is in contact with the other member, but also the case where another member exists between the two members. Throughout this specification, when a certain part "includes" a certain component, it means that other components may be further included rather than excluding other components unless otherwise stated.

Figure 2 is a configuration diagram showing an autonomous vehicle according to an embodiment of the present invention is shown, Figure 3 is a perspective view showing an autonomous vehicle according to an embodiment of the present invention is shown, and Figure 4 is the present invention There is shown a front view showing an autonomous vehicle according to an embodiment of.

The autonomous vehicle 100 according to the present embodiment is a vessel that collects contaminated soil deposited on the seabed of a reservoir, river, or sea, and an environmental data detection unit 110 and an autonomous driving control unit 120 that perform a specific role. , By providing the subsea soil collection device 130 and the collection device control unit 140, it is possible to provide an autonomous vehicle including a configuration capable of effectively collecting contaminated soil.

Hereinafter, each configuration constituting the autonomous vehicle 100 according to the present embodiment will be described in detail.

The environmental data detection unit 110 according to the present embodiment detects weather data of an area where an autonomous vehicle is located, data on the location and route of other ships sailing in the vicinity, and coordinates of obstacles located in the vicinity at each preset period. , It performs a role of transmitting to the autonomous driving control unit 120.

In this case, the autonomous driving control unit 120 may calculate an optimal navigation route based on the data obtained from the environmental data detection unit 110 and the location data of the contaminated soil to be collected.

In some cases, when the external environment data obtained from the environmental data detection unit 110 is included in a predefined severe environmental condition, the autonomous driving control unit 120 according to the present embodiment determines the location of the autonomous driving vessel 100. Evacuation to a set safety area, or change the sailing conditions of the autonomous ship 100 to a preset sailing speed and direction.

Specifically, the above-mentioned severe environmental conditions are dangerous conditions recommended by the International Maritime Organization (IMO), and the dangerous conditions are preferably a combination of the characteristics of an autonomous ship and weather conditions.

At this time, the autonomous driving control unit 120 according to the present embodiment collects weather information for each voyage route generated by using the departure point information and the destination information of the autonomous driving vessel 100, so that the fuel consumption rate is the lowest during the specified flight time. You can calculate the navigation route.

Preferably, the autonomous vehicle 100 according to the present embodiment may be selectively controlled for navigation by a central control center. At this time, the central control center is a monitoring mode that monitors the navigation status of an autonomous vehicle, a warning mode that generates a warning when an abnormal signal is received from the autonomous driving control unit 120, and a remote control mode for remote control of an autonomous vehicle. Either mode can be driven as an operation mode. In addition, it is preferable that the optimal navigation route of the autonomous driving control unit 120 and the central control center are operated in synchronization with each other.

Meanwhile, the subsea soil collection apparatus 130 according to the present embodiment has a structure including a structure for collecting contaminated soil deposited on the sea floor, and may be equipped with an undersea photographing apparatus and a seabed water quality detection apparatus.

At this time, the collection device control unit 140 may control the operation of the subsea soil collection device 130 based on the data acquired through the undersea photographing device and the seabed water quality detection device mounted on the seabed soil collection device 130. .

3 and 4, the subsea soil collection apparatus 130 according to this embodiment includes an opening 131 of a specific structure, a wire winding drum 133, a washing nozzle 134, and a soil collection unit ( 135) may be included.

Specifically, the opening 131 is formed in the center of the bottom of the unmanned ship 100, and the wire 132 may be raised or lowered through the opening 131. At this time, the wire winding drum 133 is mounted on one side of the autonomous vehicle 100 to implement a lifting or lowering operation of the wire.

In some cases, by mounting the tripod 137 on the hull of the self-driving vessel 100 on both sides of the opening 131 and mounting a guide 136 of a roller structure guiding the wire 132 in a preset direction at the hem. , It is possible to more smoothly implement the lifting or lowering operation of the wire.

At this time, a drum monitoring camera (not shown) is mounted on the hull of the autonomous vehicle 100 to photograph the driving state of the wire winding drum 133, and then the acquired image data through the collection device control unit 140 It can be transmitted to the operator in real time.

A soil collection unit 135 is mounted at one end of the wire 132. The soil collection unit 135 according to the present embodiment is equipped with a wireless communication module capable of performing wireless communication with the collection device control unit 140, and has a storage structure capable of storing contaminated soil deposited on the sea floor. It may be a formed structure.

In some cases, as shown in FIG. 3, a washing nozzle 134 is mounted adjacent to the opening 131 to wash the outside of the soil collection unit 135.

5 and 6 are schematic diagrams showing a state in which the shortest driving route is calculated through an autonomous driving control unit according to an embodiment of the present invention.

Hereinafter, an autonomous driving method of the autonomous driving vessel 100 according to the present embodiment will be described with reference to the drawings shown in FIGS. 2 to 6.

The autonomous driving controller 120 according to the present embodiment, as shown in FIGS. 5 and 6, performs a role of calculating an optimal navigation route.

Specifically, the autonomous driving control unit 120, as shown in FIG. 5, the first coordinate data (P1) of the position where the autonomous driving vessel 100 departs, and the position where it is determined that contaminated soil to be collected exists. The shortest route is calculated based on the second coordinate data P2 of and the third coordinate data P3 of the position where the autonomous vehicle should return. Thereafter, based on the data acquired through the environmental data detection unit 110, the shortest running route is corrected to calculate the optimum navigation route.

In some cases, as shown in FIG. 6, when there is a possibility of a collision between the autonomous vehicle 100 and the obstacles (X1, X2), an optimal pre-calculated navigation path is generated to avoid the predicted obstacle. You can modify the navigation route.

In addition, the autonomous driving control unit 120 according to the present embodiment, the external environment data of the autonomous driving vessel 100 obtained from the environmental data detection unit 110, other ship data received from the ship automatic identification device, and automatic ship collision prevention The risk of collision between the autonomous vehicle 100 and the obstacle is predicted using the distance data between ships received from the device, and the pre-calculated optimal navigation path may be corrected based on this data.

The autonomous driving control unit 120 according to the present embodiment, as shown in FIG. 2, a route recalculation determining unit 121, a shortest route determining unit 122, and a route change approval unit 123 that perform a specific role. And it may be a configuration including a route change unit 124.

Specifically, the route recalculation determining unit 121 may analyze the weather information acquired at each preset period and determine whether or not the route is recalculated according to a preset route recalculation condition. When recalculation is performed, the shortest route determining unit 122 may calculate the shortest route among routes that satisfy the change conditions included in the route recalculation condition. The route change approval unit 123 determines whether or not to obtain approval from the ship management system in order to change the currently sailing route to the calculated shortest route, and receives an approval request and a response to the request if approval is required. I can. In addition, the route change unit 124 serves to change the currently sailing route with the calculated shortest route.

As shown in FIG. 7, when another vessel 200 having a possibility of collision on the optimal navigation route is sailing based on the data obtained from the environmental data detection unit 110, the route change unit 124 according to the present embodiment. ) Is a virtual first straight line (L1) connecting the autonomous ship 100 and other ships to avoid collision with other ships 200 on the optimal navigation route, and the front of the other ships 200 The first angle A1 formed by the second straight line L2 representing the navigation route is calculated. Thereafter, as shown in FIG. 8, based on the calculated first angle A1, the navigation speed of the autonomous vehicle 100 and the other ship 200 can be avoided so as to avoid a collision with the other ship 200. ) After calculating the change speed and minimum turning angle A2 of the autonomous vehicle 100 according to the distance D1, the operation of the autonomous vehicle 100 can be controlled by modifying the optimal navigation route.

In this case, the route change unit 124 according to the present embodiment, based on the data obtained from the environmental data detection unit 110, when another vessel 200 having a possibility of collision on the optimum navigation route is sailing, the optimum In order to avoid collision with other vessels 200 on the navigation route, the optimum navigation route reflects the location data of another contaminated soil that is not located on the navigation route of other vessels 200 and is closest to the current navigation route. By modifying the operation of the autonomous vehicle 100 can be controlled.

As described above, according to the self-driving ship of the present invention, the configuration capable of effectively collecting contaminated soil by having an environmental data detection unit, an autonomous driving control unit, a subsea soil collection device, and a collection device control unit performing a specific role. It is possible to provide an autonomous vehicle including a.

In addition, according to the self-driving ship of the present invention, by providing an autonomous driving control unit that calculates the optimal navigation route based on the data obtained from the environmental data detection unit and the location data of the contaminated soil to be collected, the location of the contaminated soil By recalculating the optimal navigation route calculated based on the data based on the data acquired from the environmental data detection unit and further optimizing it, the work of collecting contaminated soil can be performed more stably and effectively.

In addition, according to the self-driving ship of the present invention, by having a route recalculation judgment unit, a shortest route decision unit, a route change approval unit, and a route change unit that perform a specific role, it is optimal by reflecting the weather information acquired at each preset cycle. Since the navigation route can be changed to a safe navigation route, it is possible to ensure safe navigation of autonomous ships.

In addition, according to the self-driving ship of the present invention, by having a seabed soil collection device including an opening of a specific structure, a wire winding drum, a washing nozzle, and a soil collection unit, contaminated soil deposited on the seabed of a reservoir, river or sea It can provide self-driving ships that can stably collect money.

In the above detailed description of the present invention, only specific embodiments according thereto have been described. However, it should be understood that the present invention is not limited to a particular form mentioned in the detailed description, but rather, it is understood to include all modifications, equivalents, and substitutes within the spirit and scope of the present invention as defined by the appended claims. Should be.

That is, the present invention is not limited to the specific embodiments and description described above, and any person having ordinary knowledge in the technical field to which the present invention pertains without departing from the gist of the present invention claimed in the claims, various modifications are implemented. It is possible, and such modifications will fall within the protection scope of the present invention.

100: autonomous vehicle
110: environmental data detection unit
120: autonomous driving control unit
121: route recalculation judgment unit
122: shortest route decision section
123: Route change approval department
124: Route change department
130: submarine soil collection device
131: opening
132: wire
133: wire winding drum
134: washing nozzle
135: soil collection unit
136: guide
137: tripod
140: collection device control unit
200: other ships
300: drone
A1: first angle
A2: turning angle
D1: Distance between autonomous ships and other ships
L1: first straight line
L2: second straight line
P1: first coordinate
P2, P21, P22, P23, P24: second coordinate
P3: 3rd coordinate
X1, X2: obstacle

Claims (14)

As an autonomous driving vessel 100 that collects contaminated soil deposited on the seabed of a reservoir, river, or sea,
An environmental data detection unit that detects weather data of the region where the autonomous vehicle is located, data on the location and route of other ships sailing in the vicinity, and coordinates of obstacles located in the vicinity at each preset period, and then transmits it to the autonomous driving control unit 120 (110);
An autonomous driving control unit 120 for calculating an optimal navigation route based on the data acquired from the environmental data detection unit 110 and location data of the contaminated soil to be collected;
An undersea soil collection device 130 including a structure for collecting the contaminated soil deposited on the sea floor, and equipped with an undersea photographing device and an undersea water quality detection device; And
A collection device controller 140 for controlling the operation of the undersea soil collection device 130 based on the data acquired through the undersea photographing device and the undersea water quality detection device mounted on the undersea soil collection device 130;
Self-driving vessel comprising a.
The method of claim 1,
The autonomous driving control unit 120,
First coordinate data (P1) of the location where the autonomous vehicle 100 departs, second coordinate data (P2) of the location where contaminated soil to be collected is determined to exist, and the position where the autonomous vehicle should return 3 After calculating the shortest route based on the coordinate data (P3),
An autonomous vehicle, characterized in that the optimal navigation route is calculated by modifying the shortest route based on the data acquired through the environmental data detection unit 110.
The method of claim 1,
The autonomous driving control unit 120,
An autonomous ship using external environment data of the autonomous ship 100 obtained from the environmental data detection unit 110, other ship data received from the ship automatic identification device, and the distance data between ships received from the ship automatic collision prevention device. It predicts the risk of collision between (100) and the obstacle, and if there is a possibility of a collision between the autonomous vessel 100 and the obstacle (X1, X2), a pre-calculated optimal navigation path is created to avoid the predicted obstacle. Self-driving vessel, characterized in that to modify the navigation route.
The method of claim 1,
The autonomous driving control unit 120,
A route recalculation determining unit 121 that analyzes the weather information acquired at each preset period and determines whether to recalculate the route according to a preset route recalculation condition;
A shortest route determining unit 122 for calculating the shortest route among routes satisfying the change condition included in the route recalculation condition when recalculation is performed;
A route change approval unit 123 that determines whether approval is required by the ship management system in order to change the currently sailing route to the calculated shortest route, and receives an approval request and a response to the request when approval is required; And
A route change unit 124 for changing a currently sailing route with the calculated shortest route;
Self-driving vessel comprising a.
The method of claim 4,
The route change unit 124,
Based on the data obtained from the environmental data detection unit 110, when another vessel 200 that may collide on the optimum navigation route is sailing, it is possible to avoid a collision with the other vessel 200 on the optimum navigation route. A first angle (A1) formed by a virtual first straight line (L1) connecting the autonomous vehicle 100 and other ships, and a second straight line (L2) representing the forward navigation path of the other ships 200 Calculate,
In order to avoid collision with other ships 200 based on the calculated first angle (A1), it is autonomous according to the sailing speed of the autonomous ship 100 and the distance D1 from the other ships 200. After calculating the change speed and minimum turning angle (A2) of the traveling vessel 100,
An autonomous vehicle, characterized in that the operation of the autonomous vehicle 100 is controlled by modifying the optimal navigation route.
The method of claim 5,
The route change unit 124,
Based on the data obtained from the environmental data detection unit 110, when another vessel 200 that may collide on the optimum navigation route is sailing, it is possible to avoid a collision with the other vessel 200 on the optimum navigation route. , It is not located on the navigation route of other vessels 200, but reflects the location data of another contaminated soil closest to the current navigation route, and modifies the optimum navigation route to control the operation of the autonomous vessel 100 Self-driving ships.
The method of claim 1,
When the external environment data obtained from the environmental data detection unit 110 is included in a predefined severe environmental condition, the autonomous driving control unit 120 may evacuate the position of the autonomous driving vessel 100 to a preset safe area, or , An autonomous driving vessel, characterized in that changing the navigation conditions of the autonomous vehicle 100 to a preset navigation speed and a navigation direction.
The method of claim 7,
The harsh environmental conditions are dangerous conditions recommended by the International Maritime Organization (IMO),
The risk condition is an autonomous vehicle, characterized in that a combination of the characteristics of the autonomous vehicle and weather conditions.
The method of claim 1,
The autonomous driving control unit 120 collects weather information for each voyage route generated by using the departure point information and the destination information of the autonomous driving vessel 100 to calculate an optimum voyage route with the lowest fuel consumption rate for a predetermined flight time. Self-driving vessel characterized by.
The method of claim 1,
The self-driving vessel 100 is selectively controlled for navigation by a central control center,
The central control center is one of a monitoring mode that monitors the navigation status of an autonomous vehicle, a warning mode that generates a warning when an abnormal signal is received from the autonomous navigation control unit 120, and a remote control mode for remote control of an autonomous vehicle. An autonomous vehicle, characterized in that one mode is driven as an operation mode.
The method of claim 10,
The autonomous navigation control unit 120 and the optimal navigation route of the central control center, characterized in that the operation in synchronization with each other.
The method of claim 1,
The subsea soil collection device 130,
An opening 131 formed in the center of the bottom of the unmanned ship 100;
A wire winding drum 133 mounted on one side of the autonomous vehicle 100 and winding or unwinding a wire 132 that is lifted or lowered through the opening 131;
Two or more washing nozzles 134 mounted adjacent to the opening 131 and disposed to be sprayed toward the center of the opening 131; And
It is mounted on one end of the wire 132, a wireless communication module capable of performing wireless communication with the collection device control unit 140 is mounted, and a storage structure capable of storing contaminated soil deposited on the sea floor is formed. Soil collection unit 135;
Self-driving vessel comprising a.
The method of claim 12,
The submarine soil cutlery 130,
A guide 136 having a roller structure that is mounted on the hull of the autonomous vehicle 100 on both sides of the opening 131, is extended and disposed above the center of the opening 131, and guides the wire 132 in the center in a predetermined direction. ) Mounted tripod 137;
Self-driving vessel, characterized in that it further comprises.
The method of claim 12,
The submarine soil cutlery 130,
A drum monitoring camera mounted on the hull of the autonomous vehicle 100, photographing the driving state of the wire winding drum 133, and transmitting the acquired image data to the operator through the collection device control unit 140 in real time;
Self-driving vessel, characterized in that it further comprises.

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