KR20210044674A - support system for vessel operation and ship having the same - Google Patents

Abstract

The present invention relates to a ship navigation support system and a ship having the same, comprising: a sensor unit for acquiring an image of the front with respect to the own ship; an analysis unit that analyzes a horizontal line in the image collected by the sensor unit to calculate attitude information of the own ship; and an output unit for outputting the attitude information of the own ship calculated by the analysis unit.

Description

Support system for vessel operation and ship having the same

The present invention relates to a ship navigation support system and a ship including the same.

A ship is a means of transport that navigates the ocean carrying a large amount of minerals, crude oil, natural gas, or thousands of containers, etc., and is made of steel, and it is made of steel and is suspended on the water surface by buoyancy, and the thrust generated through the rotation of the propeller is controlled. Go through.

These ships generate thrust by driving engines or gas turbines.At this time, the engine uses oil fuel such as heavy oil (HFO) or diesel (MDO, MGO) to move the piston, and the crankshaft rotates by the reciprocating motion of the piston. In addition, the shaft connected to the crankshaft rotates to drive the propeller, while the gas turbine burns oil fuel with compressed air and generates power by rotating the turbine blades through the temperature/pressure of the combustion air. Use the method of delivery.

However, in recent years, gas fuels such as liquefied natural gas (LNG) or liquefied petroleum gas (LPG) are used to drive engines or turbines to solve the problem of environmental damage caused by exhaust when oil fuel is used. Fuel propulsion is being used. In particular, since LNG is a clean fuel and reserves are more abundant than petroleum, the method of using LNG as gas fuel is applied to other ships such as container ships in addition to LNG carriers.

In this way, ships are gradually developing to the level of ensuring operational efficiency in order to further suppress environmental pollution and reduce energy consumption, further from the basic function of ensuring the transport efficiency of cargo.

In accordance with this development process, research and development on technologies that enable effective and even autonomous control of navigation are continually being made. However, it is the reality that there are not many cases applied to ships so far, and constant research is required.

The present invention was created to solve the problems of the prior art as described above, and an object of the present invention is to enable safe navigation by providing intuitive information on an object during the navigation process, and to perform movement of the object based on the attitude information of the object. It is to provide a ship navigation support system and a ship including the same, which can be tracked and provided, the attitude of the own ship can be clearly estimated, and efficient management of photographing means based on the shape information of the ship.

A ship navigation support system according to an aspect of the present invention includes: a sensor unit for acquiring an image of a front based on the own ship; An analysis unit that calculates posture information of the own ship by analyzing a horizontal line from the image collected by the sensor unit; And an output unit for outputting the attitude information of the own ship calculated by the analysis unit.

Specifically, the sensor unit may be a monocular camera provided at the center of the own ship in the left-right direction and having an image sensor.

Specifically, the analysis unit includes: a horizontal line extracting unit for extracting a current horizontal line included in the image; A horizontal line analyzer configured to set a horizontal line when the own ship is in a preset posture as a reference horizontal line, and then compare the current horizontal line with the reference horizontal line; And a posture calculator configured to calculate posture information of the own ship based on a difference between the current horizontal line and the reference horizontal line.

Specifically, the posture calculation unit calculates the rolling angle of the own ship by using the slope of the current horizontal line with respect to the reference horizontal line, and calculates the pitching angle of the own ship by using the vertical deviation of the current horizontal line with respect to the reference horizontal line. I can.

A ship according to an aspect of the present invention is characterized in that it has the ship navigation support system.

The ship navigation support system and the ship including the same according to the present invention can intuitively provide information on objects to be encountered during navigation, and implement motion tracking of the object to innovatively reduce the risk of accidents, and estimate the attitude of the own ship. And it is possible to implement the optimal management of the own ship equipment based on the shape of the own ship.

1 is a view showing a display screen of a ship navigation support system according to the present invention.
2 to 4 are block diagrams of a ship navigation support system according to a first embodiment of the present invention.
5 is a view for explaining the analysis principle of the ship navigation support system according to the first embodiment of the present invention.
6 and 7 are block diagrams of a ship navigation support system according to a second embodiment of the present invention.
8 is a view showing an analysis example of the ship navigation support system according to the second embodiment of the present invention.
9 and 10 are block diagrams of a ship navigation support system according to a third embodiment of the present invention.
11 is a view showing an analysis example of the ship navigation support system according to the third embodiment of the present invention.
12 and 13 are block diagrams of a ship navigation support system according to a fourth embodiment of the present invention.

Objects, specific advantages and novel features of the present invention will become more apparent from the following detailed description and preferred embodiments associated with the accompanying drawings. In adding reference numerals to elements of each drawing in the present specification, it should be noted that, even though they are indicated on different drawings, only the same elements are to have the same number as possible. In addition, in describing the present invention, when it is determined that a detailed description of related known technologies may unnecessarily obscure the subject matter of the present invention, the detailed description thereof will be omitted.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. The present invention includes not only the ship navigation support system described below, but also a ship on which the system is mounted/built.

In this case, the term “ship” may be a concept encompassing all of a floating structure for performing a specific task in the sea, in addition to a general ship such as a merchant ship/passenger ship that carries cargo or people from the point of departure to the destination.

In addition, in the present specification, it is noted that the ship on which the system of the present invention is provided is referred to as an own ship, and as an object located around the own ship, a fixed structure such as a ship, a floating body, or a pier is referred to as an object.

1 is a diagram showing a display screen of a ship navigation support system according to the present invention, FIGS. 2 to 4 are block diagrams of a ship navigation support system according to a first embodiment of the present invention, and FIG. 5 is a first embodiment of the present invention. 1 is a view for explaining the analysis principle of the ship navigation support system according to the embodiment.

1 to 5, the ship navigation support system 1 according to the first embodiment of the present invention includes an estimation unit 110, a collection unit 120, an analysis unit 130, and an output unit 140. Includes.

The estimating unit 110 estimates first object information of an object located within a certain range based on the own ship. In this case, the estimating unit 110 may be based on an image within a certain range.

The estimation unit 110 may include a sensor unit 111, a detection unit 112, and an information estimation unit 113. In this case, the sensor unit 111 is a component for acquiring an image within a certain range, and may be an image sensor or photographing equipment such as a camera.

The sensor unit 111 may be provided on the upper deck of the own ship and may be installed to face the front, and may be provided at a high position such as a cabin or a steering compartment to secure a relatively sufficient front view.

However, the image captured by the sensor unit 111 may be distorted due to a perspective method. Hereinafter, the information estimating unit 113 may estimate the first object information in consideration of such distortion.

The detection unit 112 detects an object within a certain range. In this case, the object detected by the detection unit 112 does not limit a moving object or a non-moving object. That is, within a certain range, the detection unit 112 may detect all objects that affect the operation of the own ship as objects except seawater and air. For example, the object detected by the detection unit 112 may be a marine organism.

The detector 112 may allocate a bounding box to an area in which an object is detected in the image. The bounding box refers to a virtual rectangular border having a minimum or optimum size that can contain an object.

Since the image acquired by the sensor unit 111 may be split into pixels, the detector 112 may generate a bounding box with a predetermined pixel size. As an example, referring to FIG. 1, a bounding box for an object on the left has a height of 20 pixels, and a bounding box for an object on the right may be assigned to have a height of 10 pixels.

The information estimating unit 113 estimates first object information of an object. In this case, the first object information may include information on the location and azimuth angle of the object. Of course, it will be described below, but in addition to the second object information that is not separately extracted from the image, but directly detected or directly received from the object, all information (obtainable from the image) that may be necessary for the analysis of the collision risk is included in the first object information. I can.

Estimating the position of the object in the image by the estimating unit 110 can be confirmed based on the sea level where the object is located in the image. Since the image acquired by the sensor unit 111 may be an image to which a perspective method is applied as described above, a distance before and after the sea level point where the object is placed is separated from the sensor unit 111 may be estimated in consideration of this.

For example, as shown in FIG. 1, the sea level in the image may be divided into a grid, and the division may be made smaller as the grid size is closer to the horizontal line in consideration of the perspective method.

In addition, as shown in FIG. 1, the grid shape in the left and right directions may be distributed in consideration of the perspective method, and the information estimation unit 113 may efficiently and relatively accurately extract the position of the object in consideration of these items.

The collection unit 120 collects second object information of an object using radio waves. The collection unit 120 may collect second object information using a radar or satellite, and may use AIS. That is, the collection unit 120 may be provided as a radar sensor or satellite communication equipment.

At this time, the collection unit 120 may collect the second object information, because, as described above, the second object information is information that can be directly measured by the own ship or directly transmitted from the object. That is, the second object information can be obtained without data conversion or processing (or with a low degree of processing) like the first object information.

The second object information may include a distance between the own ship and the object, the speed of the object, and the path of the object. Of course, all information necessary for determining the risk of collision between the own ship and the object may be collected as the second object information.

In particular, information that can be extracted from an image and treated as first object information may also be collected as second object information. In this case, a value for the same variable is input as first object information and second object information, and when a difference between the two values occurs, a notification may be provided. In addition, when the first object information and the second object information collide, the second object information may be trusted.

The analysis unit 130 combines and matches the first object information estimated by the estimating unit 110 and the second object information collected by the collection unit 120 to generate third object information of the object. The analysis unit 130 may classify the object of the first object information and the object of the second object information so that the first and second object information are allocated to one object by matching the object of the second object information.

If the first object information and the second object information do not match, this may be an object that is not identified in an image but is caught by a radar, or, conversely, an object that is identified in an image but not identified by a radar (stealth, etc.).

Even in this case, a notification may be provided similarly to a situation in which the first and second object information collide, but the notification at this time may be different from the notification when the previous object information collides.

In detail, the analysis unit 130 includes an information fusion unit 131 and a risk calculation unit 132. The information fusion unit 131 may calculate the size of an object by fusing and matching the first object information estimated by the estimating unit 110 and the second object information collected by the collecting unit 120.

It has been described above that the detection unit 112 can allocate a bounding box to an object, but the information fusion unit 131 may utilize the bounding box of the detection unit 112. For example, the information fusion unit 131 may calculate the size of the object using the size of the bounding box and the distance included in the second object information.

Of course, without a bounding box, the detection unit 112 can directly detect the size (height, etc.) of the object in the image in pixel units, and the information fusion unit 131 can directly consider the size of the object.

However, it may not be possible to clearly distinguish between an object and a seawater part in an image, and it may be desirable to use a bounding box to secure a margin to sufficiently prevent a collision risk.

The information fusion unit 131 may use calculations as shown in FIG. 5. When the sensor unit 111 is a photographing device, the focal length f of the sensor unit 111, the image size (y, for example, height) of the object detected by the detection unit 112 in the image, the distance between the own ship and the object Using (d_obj, specifically, the distance between the sensor unit 111 and the object may be used), it is possible to calculate the actual size (h_obj, height) of the object.

For example, if d_obj is 5km, y is 0.06mm, and f is 15mm, it can be seen that the object has a height of about 20m. However, for this calculation, the size of the object in the image may be calculated in the same unit as the distance between the own ship and the object.

In other words, an image is generated in pixel units, and a process of converting the pixels into mm units, for example, is required. This can be determined in consideration of the size of the image sensor. For example, in the case of a camera with the image sensor size (y_sensor) = 12.2 mm, it can accommodate 3000 pixels, so if the object size is 15 pixels, the image size (y) projected on the image sensor will be calculated as about 0.06 mm. I can.

The risk calculation unit 132 may calculate third object information of the object by using the size of the object and the second object information. In this case, the third object information may include a collision risk.

The size of the object can be converted to a graded number.For example, if the height of the object is within 10m, it can be converted to 1, if the height of the object is 10 to 20m, it can be stepped into 2, and 3 if the height of the object is more than 20m. have.

The risk calculation unit 132 calculates a collision risk by merging the size of the object, the speed of the object, and the path of the object, and the collision risk calculation algorithm is a conventionally known calculation method such as DCPA, TCPA, VCD, and fuzzy. Since can be used, a detailed description is omitted here.

When the risk calculation unit 132 uses the fuzzy calculation, the risk calculation unit 132 may calculate the final collision risk by defuzzifying the inferred value from the fuzzy calculator.

The output unit 140 outputs third object information of the object generated by the analysis unit 130. The output unit 140 may be a display or the like, and the output unit 140 may be provided in various locations or equipment, such as a steering room, a terminal held by crew members individually.

The output unit 140 may output the risk of collision, which is the third object information, but the output method is not limited. For example, the risk of collision can be expressed numerically, or output using color or sound is also possible.

As described above, the present embodiment provides more accurate collision risk for objects by analyzing object information (object size, etc.) that can be extracted from images in addition to object information collected using radar, etc. Can be improved.

6 and 7 are block diagrams of a ship navigation support system according to a second embodiment of the present invention, and FIG. 8 is a view showing an analysis example of a ship navigation support system according to a second embodiment of the present invention.

6 to 8, the ship navigation support system 1 according to the second embodiment of the present invention includes an estimation unit 210, a collection unit 220, an analysis unit 230, and an output unit 240 Includes. In the present specification, even if the configuration has the same name, it does not necessarily mean the same configuration, and, conversely, it should be noted that it is not necessarily different configurations. However, in the following, for convenience of description, different parts will be mainly described for the configuration using the same name.

The estimating unit 210 estimates first object information for an object within a certain range based on the own ship. In this case, the estimating unit 210 may estimate the first object information based on an image within a certain range, as in the previous first embodiment.

In addition, as in the first embodiment, the estimation unit 210 includes a sensor unit 211 that acquires an image within a certain range, a detection unit 212 that detects an object within a certain range, and first object information of the object. It may include an information estimating unit 213 for estimating.

In addition, the detection unit 212 allocates a bounding box to an area in which an object is detected in the image is the same as described in the first embodiment.

However, the estimating unit 210 and the information estimating unit 213 of the present embodiment may estimate the posture of the object as the first object information. The posture of an object is for grasping a predicted future position of a moving object (using self-direction), and may be information related to a bow angle and the like.

In the present specification, an object is a concept encompassing a fixed structure as described above. However, since this embodiment is intended to consider the posture of an object, structures (buoys, offshore plants, piers, structures connected to land, etc.) with a fixed location may be excluded from detection targets.

That is, the detection unit 212 of the present embodiment may detect a major obstacle of interest in an image as an object, and the major obstacle of interest may be a ship in which posture estimation is meaningful.

Of course, among the objects included in the image in the present invention, the collision risk may be guided through the first embodiment of the object excluded from the main obstacle of interest.

The information estimating unit 213 may estimate the bow direction of the object in a relative coordinate system based on the own ship. As shown in FIG. 8, the information estimating unit 213 may calculate the heading direction of the object projected on the image based on the coordinates of the feature point of the object.

Here, the feature points may refer to the port and starboard corner points of the fore or stern, but all points that can be easily extracted from the image may be used as feature points. Based on these feature points, the information estimating unit 213 may measure the heading direction (head angle information) of the object projected on the image plane using a deep learning-based posture estimation algorithm model.

However, since the measured head angle information is defined in the coordinate system of the sensor unit 211 (camera) fixed to the own ship, it is necessary to convert the coordinate system. Accordingly, the information estimating unit 213 may calculate the head angle information to convert the head angle information into an inertial coordinate system to estimate the posture of the object.

The collection unit 220 may collect second object information of an object using radio waves. At this time, the collection unit 220 may be a radar sensor or the like, and may collect the second object information such as a distance between the own ship and the object, the speed of the object, and the like using a radar, satellite, or AIS.

The analysis unit 230 combines and matches the first object information estimated by the estimating unit 210 and the second object information collected by the collection unit 220. Through this, the analysis unit 230 may generate third object information of the object.

Here, the third object information may include motion tracking information of the object. The motion tracking information refers to future information that cannot be measured at present as a predicted value such as an expected movement direction of a moving object.

In the present embodiment, the motion tracking information of the object can be estimated by fusion and analysis of the heading angle information, the position and speed of the object, and the like described above.

The output unit 240 outputs third object information of the object generated by the analysis unit 230. It is as described above that the output unit 240 may be a display or the like, and it is also the same as the previous description that there is no limitation on the output method of the third object information.

However, the output unit 240 may visualize and output the expected path of the object by using the third object information of the object. Therefore, from the standpoint of a manager operating an own ship, an operation that can prevent the risk of collision with an object in advance becomes possible.

As described above, in this embodiment, by using the bow direction as object information for an object adjacent to the own ship, it is possible to calculate motion tracking information, which is future information that cannot be currently collected through images or radars, thereby improving navigation safety. It can be improved innovatively.

9 and 10 are block diagrams of a ship navigation support system according to a third embodiment of the present invention, and FIG. 11 is a view showing an analysis example of a ship navigation support system according to a third embodiment of the present invention.

9 to 11, the ship navigation support system 1 according to the third embodiment of the present invention includes a sensor unit 310, an analysis unit 320, and an output unit 330.

The sensor unit 310 may acquire an image in front of the own ship. As described above, the sensor unit 310 may include equipment such as an image sensor (camera) capable of obtaining an image. For example, the sensor unit 310 may be a monocular camera provided at the center of the own ship in the left and right directions and having an image sensor.

In addition, in the present embodiment, the sensor unit 310 may acquire an image including a horizontal line in front of the own ship. To this end, the installation position, angle, etc. of the sensor unit 310 may be appropriately set, and the sensor unit 310 may be provided on a deck house or a bridge having a high height on a ship.

The analysis unit 320 may calculate the attitude information of the own ship through the image collected by the sensor unit 310. In particular, the analysis unit 320 may calculate posture information by analyzing a horizontal line included in the image.

The analysis unit 320 includes a horizontal line extraction unit 321, a horizontal line analysis unit 322, and a posture calculation unit 323. The horizontal line extractor 321 may extract the current horizontal line included in the image, and the horizontal line may be extracted in the form of a straight line without an area.

The horizontal line analysis unit 322 compares the current horizontal line extracted by the horizontal line extraction unit 321 with a reference horizontal line. Here, the reference horizontal line refers to a horizontal line when the own ship is in a preset posture, and an image obtained by the sensor unit 310 when the own ship is placed in a constant without rolling or pitching, which is a lateral movement factor. It can be set as the horizontal line within.

That is, the reference horizontal line is a reference value for extracting the attitude information of the own ship, and when the current horizontal line coincides with the reference horizontal line, the attitude of the own ship may be in a reference state without movement.

The attitude calculating unit 323 calculates the attitude information of the own ship based on the difference between the current horizontal line and the reference horizontal line. Specifically, the posture calculation unit 323 may calculate rolling and pitching separately.

Referring to FIG. 11, it can be seen that the current horizontal line in the image acquired by the sensor unit 310 is deflected upward at a center portion compared to a preset reference horizontal line and is inclined at a certain angle.

At this time, the posture calculating unit 323 may calculate the rolling angle of the own ship by using the inclination of the current horizontal line relative to the reference horizontal line. In addition, the posture calculation unit 323 may calculate the pitching angle of the own ship by using the vertical deviation of the current horizontal line with respect to the reference horizontal line.

When calculating the rolling angle, the slope may be used as an angle between the reference horizontal line and the current horizontal line, and the vertical deviation when calculating the pitching angle may utilize the vertical separation distance between the center point on the reference horizontal line and the center point on the current horizontal line.

At this time, the center point may mean a point located in the center in the left and right directions in the image, and if the sensor unit 310 is provided on the center line CL in the width direction in the ship and is not inclined, the center point is the center of the ship. It can lie on an extension of the line.

Of course, if the sensor unit 310 is not properly installed, an error may occur in the calculation of the rolling angle or the pitching angle, which is solved through calibration of the sensor unit 310 mounted in the fourth embodiment to be described later. Note that it is possible.

The output unit 330 outputs the attitude information of the own ship derived by the analysis unit 320 as described above. As described above, the output unit 330 may be a display or the like, and the rolling angle may be expressed as a number or the like on the display.

However, if the rolling angle or pitching angle exceeds the threshold value, the output method may be changed.For example, if the rolling angle exceeds the first threshold value, an emphasis effect such as screen reversal is used, and the rolling angle is the second threshold value. If it exceeds, additional sound effects can be used to urgently inform the manager of the need for appropriate action.

As described above, in this embodiment, the inclination of the ship is calculated using the inclination of the horizontal line included in the front image in place of the gyrometer or the like, and thus the reliability of the control of the own ship can be greatly improved. .

12 and 13 are block diagrams of a ship navigation support system according to a fourth embodiment of the present invention.

12 and 13, the ship navigation support system 1 according to the fourth embodiment of the present invention includes a virtual unit 410, a sensor unit 420, an analysis unit 430, and a calibration unit 440. Includes.

The virtual unit 410 generates virtual collection information that can be collected by the equipment based on the specification information of the own ship and the mounting information of the equipment mounted on the own ship. Here, the equipment may be a device that collects data at least partially including the specification information of the own ship.

As an example, the equipment may collect data that partially includes information on the outer shape of the own ship, and specifically, the equipment may be an image sensor (camera) that acquires an image including the outer shape of the own ship. In addition, the device may be an image sensor that acquires an image including a horizontal line as described in the third embodiment.

The virtual unit 410 includes a ship information input unit 411, an equipment information input unit 412, and a virtual information generation unit 413. The ship information input unit 411 may receive drawing information of the own ship as specification information of the own ship. At this time, the own ship's drawing information includes a part that can overlap with data acquired by the equipment.

The equipment information input unit 412 receives information on an installation position and posture of the equipment as the information on the equipment to be mounted on the own ship. Similar to the third embodiment, the equipment may be installed at a high position on a ship, such as a deckhouse, and may be installed horizontally to obtain an image of the front without distortion.

However, the attitude information of the equipment received by the equipment information input unit 412 means setting information required when the equipment is installed, and the fact that the equipment is currently inclined does not mean that the inclined posture information is input.

The virtual information generation unit 413 generates virtual collection information that can be collected by the equipment based on the drawing information of the own ship and the installation location and attitude information of the equipment. As an example, the virtual information generation unit 413 transforms the appearance included in the own ship's drawing information in consideration of the shooting angle of the equipment, and creates a virtual appearance data of the own ship that should be obtained if the equipment is installed according to the design value. I can do it.

The sensor unit 420 collects actual collection information collected by the equipment. The sensor unit 420 may be configured to receive data acquired from an image sensor, which is an equipment, and provide it to the analysis unit 430, or the equipment itself may mean the sensor unit 420.

Hereinafter, for convenience, it is assumed that the device and the sensor unit 420 have the same configuration.

The analysis unit 430 may analyze the virtual collection information generated by the virtual unit 410 and the actual collection information collected by the sensor unit 420 to analyze the mounting state information of the equipment. The analysis unit 430 is based on the difference between the virtual collection information generated by the virtual information generation unit 413 and the actual collection information acquired by the sensor unit 420, and generates a calibration signal for the equipment as the mounting information of the equipment. Can be generated.

As an example, the virtual collection information will match the actual collection information if the equipment is provided according to the design specifications (however, since the virtual collection information generated by the virtual unit 410 cannot be the captured image itself, Here, the coincidence may refer to a state in which differences in color or image type are allowed, but feature points such as outlines are coincident.) If the collected information in reality deviates from the collected information in the virtual, this means that the mounting state of the device is changed. It means that it is out of design specifications.

That is, the analysis unit 430 generates a calibration signal for restoring the equipment to a state installed in accordance with the design specifications according to how far the collected information in reality deviates from the virtual collected information.

In this way, the analysis unit 430 matches the collected information actually collected by the sensor unit 420 with the virtual collection information to be collected on the assumption that the sensor unit 420 is properly installed, and the sensor unit 420 ), you can check the installation status.

And/or the analysis unit 430 may utilize the difference between the horizontal lines described in the third embodiment. That is, the analysis unit 430 may generate a calibration signal for the equipment as the mounting state information of the equipment based on a difference between the reference horizontal line included in the virtual collection information and the current horizontal line included in the actual collected information.

Of course, in this case, it is possible to perform calculations so that the attitude information of the ship does not distort the calibration signal by using data such as a gyrometer together. That is, if the difference between the horizontal line is used while the ship is inclined, a correction signal can be generated even though the equipment is properly installed.

Therefore, the analysis unit 430, after limiting the attitude information of the ship acquired from external measuring equipment such as a gyrometer, from the difference between the horizontal line, it is possible to generate a calibration signal of the equipment by using the difference between the horizontal line that still exists.

The calibration unit 440 outputs the mounting state information of the equipment calculated by the analysis unit 430. The calibration unit 440 outputs the calibration signal of the equipment using a display, similar to the previous output units 140, 240, 330, but the calibration unit 440 is not a display for total management of ship operations. In addition, it may be desirable to output a calibration signal, etc., along with an alarm to a terminal held by the person in charge of the equipment.

As described above, the present embodiment enables efficient equipment management by making it possible to check whether the equipment provided on the ship is installed in a desirable state, even without direct access to the equipment.

In addition to the above-described embodiments, the present invention encompasses all embodiments generated by a combination of at least two or more of the above embodiments or a combination of at least one or more of the above embodiments and known techniques.

Although the present invention has been described in detail through specific examples, this is for explaining the present invention in detail, and the present invention is not limited thereto, and within the technical scope of the present invention, by those of ordinary skill in the art. It would be clear that the transformation or improvement is possible.

All simple modifications to changes of the present invention belong to the scope of the present invention, and the specific scope of protection of the present invention will be made clear by the appended claims.

1: ship operation support system 110: estimation unit
111: sensor unit 112: detection unit
113: information estimation unit 120: collection unit
130: analysis unit 131: information fusion unit
132: risk calculation unit 140: output unit
210: estimation unit 211: sensor unit
212: detection unit 213: information estimation unit
220: collection unit 230: analysis unit
240: output unit 310: sensor unit
320: analysis unit 321: horizontal line extraction unit
322: horizontal line analysis unit 323: posture calculation unit
330: output unit 410: virtual unit
411: ship information input unit 412: equipment information input unit
413: virtual information generation unit 420: sensor unit
430: analysis unit 440: calibration unit

Claims (5)

A sensor unit that acquires an image in front of the own ship;
An analysis unit that calculates posture information of the own ship by analyzing a horizontal line from the image collected by the sensor unit; And
And an output unit for outputting the attitude information of the own ship calculated by the analysis unit. The method of claim 1, wherein the sensor unit,
Ship navigation support system, characterized in that provided in the center of the left and right direction of the own ship and characterized in that it is a monocular camera having an image sensor. The method of claim 1, wherein the analysis unit,
A horizontal line extracting unit for extracting a current horizontal line included in the image;
A horizontal line analyzer configured to set a horizontal line when the own ship is in a preset posture as a reference horizontal line, and then compare the current horizontal line with the reference horizontal line; And
And an attitude calculation unit that calculates the attitude information of the own ship based on a difference between the current horizontal line and the reference horizontal line. The method of claim 3, wherein the posture calculation unit,
A ship navigation support system, characterized in that the rolling angle of the own ship is calculated by using the inclination of the current horizontal line with respect to the reference horizontal line, and the pitching angle of the own ship is calculated by using the vertical deviation of the current horizontal line with respect to the reference horizontal line. . A ship comprising the ship navigation support system according to any one of claims 1 to 4.

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