KR20220063937A - Method for Prediction of Ship Movement Time in Harbor Area using AIS Data - Google Patents

Abstract

The present invention proposes a method for calculating the movement time of a ship using AIS data in order for a VTS controller to calculate the movement time of a ship arriving and departing for objective and accurate prediction and calculating the arrival and departure time of a ship arriving and departing for a certain port in the past for a certain period. By analyzing the calculation results, it was confirmed that arriving ships prefer to berth in the departure position, and the movement time of ships berthing in the departure position is shorter than the movement time of ships berthing in the arrival position. In addition, it was confirmed that the time required for port entry is longer than the time required for departure, so that the port efficiency can be improved by arranging the departing ships first when there are many arriving and departing ships. The prediction method of the present invention can be actively utilized for controlling ships arriving and departing from ports based on different analysis results for each port.

Description

{Method for Prediction of Ship Movement Time in Harbor Area using AIS Data}

The present invention relates to a method for estimating the berthing time of a vessel in a port, and in detail, it proposes a method capable of safely managing a vessel in a port by predicting the berthing and berthing time of a vessel based on past track data.

Safe navigation of ships in the port and efficient arrangement of arrivals and departures without delays are important in terms of port efficiency. Currently, most ports implement the Vessel Traffic Service (VTS) service, and the Vessel Traffic Service Operator (VTSO) is in charge of port safety and entry/exit.

In the meantime, ship entry/departure schedule adjustment depended on the experience of the controller in the VTS, giving priority to the ship that entered or moved first. However, there was a problem in the efficient operation of the port because the berthing time was different depending on the characteristics of the vessel, for example, large ships and small ships, tugboat use and non-use, cargo ships and passenger ships, twin-propelled ships and button-powered ships, etc. In addition, there are frequent situations where the controller incorrectly predicted the berthing time and allowed the vessel to move, resulting in a quasi-accident.

When a vessel is docked or docked in a port, a safe distance must be maintained at the surrounding quay without a berthing vessel. In particular, in a port with a narrow port area or a narrow breakwater entrance, only one vessel can enter and depart the port, so more accurate and efficient vessel entry and departure management is required in VTS. In a one-way route where the route is narrow, only one vessel can enter and depart, so the controller designates the order of entering and leaving the vessel, and the vessels follow this designated order to navigate. However, due to changes in the marine environment such as weather or human error of the controller, a near-miss or delayed entry/departure accident occurs. This is because not only is it difficult to predict the movement of a vessel when entering and leaving the port, but the basis of all data is based on the experience of the VTS controller. For example, in the conventional port management, if a person with a radio at the berth looks at the port situation and a ship that has finished work at the berth is expected to depart, wirelessly orders the next ship moored at the outer port to enter the port and enter the berth at that time. So I was able to anchor and work. According to these operations, it is difficult to systematically operate the port operation and management, and it is difficult to take into account that the entry time may vary according to the type and speed of each vessel. .

In order to solve this problem, according to Patent Publication No. 10-2014-0089628, a port operation scheduling method using an automatic ship identification device has been proposed. By dividing the location and speed into entry stages, monitoring, tracking, scheduling, and management were made so that the estimated arrival time and arrival time could be shared and utilized by ship and port operators. This technology has the effect of increasing port use efficiency and competitiveness by reducing time and cost by shortening the berth usage time, etc. It is difficult to predict comprehensive berthing and berthing times, and there is a limit to systematically managing ships entering and leaving ports.

Considering these circumstances, for efficient and safe vessel entry and departure management, it is necessary to calculate the arrival and departure time required for each vessel according to the weather environment, the presence of tugs, and the use of pilot vessels, and automatically calculates the berthing time for ships scheduled to enter or depart. you need a way to

The present invention was created under the technical background described above, and the object of the present invention is to improve the practice of permitting entry only in the order in which ships enter and depart depending on the experience of the controller in the VTS, and to ensure the safety of ship operation in the port. It provides a new way.

Another object of the present invention is to provide a statistical and scientific method for systematically managing vessel entry and departure.

Another object of the present invention is to measure the actual arrival/departure time of each vessel based on analysis of past vessel tracking data, which is another object of the present invention, and to propose a new vessel arrival/departure prediction model by using this data.

In addition, other objects and technical features of the present invention will be presented in more detail in the following detailed description.

In order to achieve the above purpose, it is necessary to investigate the past cases of entry and departure of the target port. The present invention receives the track database for the past certain period transmitted from the automatic ship identification device for ships entering and departing from a specific port, and sorts the received track database in chronological order with respect to the ship type, ship size, and berthing direction. and, by dividing the breakwater area and the port area of the specific port, designating the range of the breakwater passage area and the pier berthing area, and determining that the ship is an incoming or outgoing ship if it passes both the breakwater area and the port area, a) If it enters the port area after passing through the breakwater area, it is judged as an incoming vessel, b) If it passes through the breakwater area from the port area, it is judged as a departing vessel. It provides a method of extracting the berthing time of a vessel in a port using AIS data, which is calculated by the difference between the time points and the time required for departure is calculated as the difference between the departure time and the breakwater entry time.

In the present invention, in the step of determining whether the vessel is entering or departing from the port, a) it is determined whether a specific vessel enters the breakwater area, and if a vessel is located in the area, it is added to the list of ships in the breakwater area, and a vessel in the list of ships in the breakwater area If it is located in this port area and the moving average speed of the vessel is less than the vessel berthing speed standard, the vessel is determined to be berthing, the vessel is added to the list of vessels entering the port, b) Determining whether a specific vessel has entered the port area and, if the vessel is at a speed higher than the vessel berthing speed standard in the port area, it is added to the list of vessels waiting for departure. can do.

In addition, the present invention may further include the step of calculating a result of analyzing the time taken for berthing or berthing by vessel characteristics including the type of vessel, the size of the vessel, and the direction of berthing by using the ship's track database.

According to the present invention, the time required for entering and departing Jeju Port was analyzed by each ship type, entry and exit direction, and berthing posture by collecting the past vessel AIS data, calculating the vessel arrival/departure time, and analyzing the calculated results by vessel characteristics.

According to the present invention, it is possible to automatically predict the berthing and berthing time of a vessel scheduled to enter and depart a port, and it can be utilized to calculate the vessel movement time, tug use, and pilotage use only with the tracking data of the vessel.

The results of the analysis related to berthing and berthing according to the present invention can be usefully utilized when adjusting the order of vessel entry and departure in the port VTS, and can greatly contribute to controlling the safe entry and exit of ships in the port.

1 is a tracking pattern of ships entering and leaving Jeju Port.
2 is a schematic diagram related to an accident case
3 is a schematic diagram schematically illustrating the entry and departure of a vessel;
4 is a map of the location distribution of the port area of Jeju Port and the breakwater area according to the embodiment;
5 is a flowchart for determining the time required for entering a port and entering a port;
6a and 6b are the results of the arrival-related wake and speed distribution
7 is a flowchart for determining vessel departure and departure time required;
8a and 8b show the departure related wake and speed distribution results.
9 is a result of analysis of passenger ship entry and departure characteristics and travel time in Jeju Port;
10 is a result of analysis of passenger ship entry and departure characteristics and travel time in Jeju Port;

The present invention calculates the movement time of a vessel entering and leaving a specific port by using the vessel tracking data of the Automatic Identification System (AIS) to objectively and accurately predict the berthing and berthing time for the vessel entering and leaving the port during VTS control. do.

According to an embodiment of the present invention, a method of calculating the vessel movement time using AIS data is proposed, and the berthing and berthing time (entry and departure transit time) of the vessel entering and leaving Jeju Port for the past 1 year and 6 months was calculated. As a result of analyzing the calculated time, types of ships, and other statistical data, it was possible to obtain port control information such as the berthing posture of incoming and outgoing ships and differences in arrival and departure times. has been able to be performed with

The method of predicting the berthing time of a vessel in a port using AIS data according to the present invention can be implemented as a single systemized device, for example, the past transmitted from the automatic vessel identification device for a vessel entering and departing from a specific port. The basic data receiving unit that receives the track database for a certain period of time, the data processing unit that sorts the received track database in chronological order with respect to the ship type, ship size, and berthing direction, the breakwater passage area by dividing the breakwater area and port area of a specific port Designate the range of the berthing area and the pier, and if the ship passes both the breakwater area and the port area, it is judged as an incoming or outgoing ship. It may include an eyepiece data calculation unit.

The implemented system predicts the berthing time of a vessel in the port from AIS data for ships entering and departing ports in each region, and analyzes the time taken for berthing or berthing by vessel characteristics including vessel type, vessel size, and berthing direction. By calculating the result, it can be actively used to control the entry and departure of ships during VTS control.

One-way entry/exit method this eyepiece Time Prediction Needs

One-way vessel entry and departure method is a method in which a vessel enters and departs from a port in one direction on the route, and it is implemented to safely enter and depart a vessel in case of bad weather or limited visibility due to the recent increase in size of vessels and the implementation of maritime traffic control. In particular, in cases where only one vessel can move due to a narrow physical route, or when vessel traffic is congested, the ship ranking system is implemented.

In the case of Jeju Port, the VTS controller gives priority to ships entering and leaving in the order in which they are requested. This method has a disadvantage in that it does not consider the effect of the berthing delay according to the ship's berthing maneuverability, the position of the berth, and the marine environment. 1 is an AIS track distribution for 1 month in March 2020 of OO (passenger ship) entering Jeju Port, which is a one-way entry/exit method. The left side of the drawing shows the track of the outgoing ship, and the right side shows the track of the incoming ship. Departure ships are delayed from the planned time if there are incoming and outgoing ships on the traffic route, and the incoming ship slows its speed in the open sea to adjust the breakwater arrival time.

In order to prevent port traffic delay during one-way vessel entry/exit control, it is necessary to predict the arrival and departure times of a vessel and move the next-ranked vessel appropriately. This is mostly done by predicting the ship's arrival/departure time based on the past experience of the VTS controller. This method often creates a ship-collision quasi-accident situation in the port. As a practical example, the situation shown in Figure 2 often occurs. Referring to FIG. 2 , the situation was that the ship A was entering the port under strong winds, and the ship B was waiting for a departure instruction from the VTS in the order of the next arrival and departure. When ship A passed the breakwater, the VTS controller instructed the waiting ship B to depart after 10 minutes. However, the berthing of A was delayed due to a strong wind of 17.2 knots blowing in the harbor at the time, but B was departing according to the instructions of the VTS and came close to A, resulting in a quasi-accident close to a collision.

As in the previous case, for efficient entry and departure of ships and prevention of accidents in ports where one-way is implemented, it is necessary to calculate the approximate time required for entry and departure according to the weather environment of each ship, the presence of tugs, the use of pilot ships, etc., and if possible, There is a need for a method to automatically calculate the berthing and berthing times of ships scheduled to depart.

Ian and how to predict the berthing time

In the present invention, the VTS controller analyzes the time taken for disembarking and berthing for each vessel characteristic in order to control the order and timing of vessel entry and departure. To this end, the port is divided into a breakwater area and a wharf area, and the ship's berthing time, ship type and size, and berthing direction statistics are calculated using the ship's AIS track data.

In an embodiment of the present invention, the ranges of the breakwater passage area and the pier berthing area are designated for the calculation of the berthing and berthing time of the incoming and outgoing vessel for Jeju Port, and if the vessel passes both of the designated areas, it is determined as an incoming and outgoing vessel, The travel times of the two sections were extracted. When a ship enters a port, it enters the port area after passing through the breakwater area, and in the case of departure, it passes through the seawall area after passing through the port area on the contrary. 3 is a diagram showing the case of a vessel entering port and departing port.

a) Set the range of the breakwater passage area and the pier berthing area

In the present invention, the latitude and longitude coordinates of the zones corresponding to each breakwater and pier were extracted from the electronic chart to establish the Jeju Guhang breakwater passage area and pier berthing area. In the embodiment of the present invention, Jeju Port extracts data from berth 21 to berth 72, and berths 81 and higher do not pass through the set breakwater area, so are excluded. 4 shows the positions of the port area and breakwater area for each set berth.

In addition, in order to determine whether the vessel at berthing is in the porting posture or the departure posture, the azimuth range of each berth, the bearing range of the departure posture, the water depth, and the main target vessel were input as initial values. In FIG. 4 , the berth 71 has an arrival attitude direction of 90 degrees to 270 degrees, and a departure attitude direction is more than 270 degrees or less than 90 degrees. Table 1 below shows information on the range, water depth, and major ship types of the berth in Jeju Port.

berth number port of entry
defense departure posture
defense depth of water major ship types #21 120-170 300-350 3 public line #22 120-170 300-350 3 public line #23 210~260 30-80 6 Ferry #24 120-170 300-350 6.5 Ferry #31 180-230 0-50 6.5 Ferry #32 210~260 30-80 7.5 Ferry #41 120-170 300-350 7.5 Ferry #42 120-170 300-350 7.5 oil tanker #43 210~260 30-80 8 public line #44 120-170 300-350 6 Ferry #45 210~260 30-80 6 cargo ship #51 120-170 300-350 7.5 cargo ship #52 210~260 30-80 7.5 cargo ship #53 120-170 300-350 6 cargo ship #54 120-170 300-350 5 cargo ship #55 210~260 30-80 5 cargo ship #61 180-230 0-50 5 Ferry #62 180-230 0-50 8 Ferry #71 180-230 0-50 11 Ferry #72 120-170 300-350 11 public line breakwater 0-180 180-360 15

b) Calculation of vessel entry/exit transit time

In order to predict the ship movement time between the breakwater and the pier, the arrival and departure times were calculated using the following data processing method.

First, the method proposed by the present invention for the method of calculating the time required for the extraction of information on incoming ships moving through the breakwater to the port area is to extract the ship track data from the historical track database arranged in chronological order so that the corresponding ship enters the breakwater area. It is determined whether there is a ship in the zone, and if there is a ship located in the zone, it is added to the list of ships in the breakwater zone. If a ship in the ship list in the breakwater area is located in the port area and the moving average speed of the ship is below the Berthing Speed Threshold (BST), the ship is determined to be berthing and added to the list of incoming ships. In addition, the time required to enter the port is calculated as the difference between the time of arrival at the port and the time of entering the breakwater. The flowchart of FIG. 5 is a flowchart of a method of determining the time required for entering a port and entering a port, and FIGS. 6a and 6b are the results of the track and speed distribution, and the time of passing the breakwater and the time of entering the port by applying the ship's port data to the method proposed in the present invention. shows the result of extraction.

Next, when a ship departs from a port and passes through a breakwater, it is determined in the reverse order of the port entry procedure. Ship tracking data is extracted from the historical tracking database sorted in chronological order, and if the vessel has a speed higher than BST in the port area, it is added to the list of vessels waiting for departure. When a vessel enters the breakwater area on the list of vessels waiting for departure, the vessel is added to the list of vessels to depart. Departure time is calculated as the difference between the departure time and the breakwater entry time. 7 is a flowchart of a method for determining the departure and departure time of a vessel, and FIGS. 8a and 8b are the results of the track and speed distribution, and the result of extracting the breakwater passage time and departure time by applying the vessel departure data to the method proposed in the present invention. indicates

Experiments and results

For the experiment and evaluation of the method proposed in the present invention, AIS data of ships entering and departing from Jeju Port were collected. For experimental data, data collected for 1 year and 6 months from March 2019 to September 2020 by installing an AIS receiver at Jeju National University was used. Using the proposed method, 16,316 vessel entry and departure data were collected. Among them, 6,314 vessels were analyzed by removing ports working vessels (port tugs, pilot vessels, government vessels, etc.), small vessels, and vessels with abnormal AIS signals. During the target period, 3,933 passenger ships, 1,710 cargo ships (including oil tankers), and 671 other ships entered and departed ports.

Vessel arrival/departure time statistics were collected by classifying the vessel type, size, arrival/departure direction, and entry/departure berthing posture. The types of ships are divided into two types: passenger ships and cargo ships, and the sizes of ships are grouped into small (less than 50m), medium (50~150m), and large (over 150m). The berths 44, 62, 24, 42, 22, and 45 were analyzed. Table 2 below shows the analysis results of the time required (minutes) for each berth. In the table, the characteristics of the vessel are indicated as 'type of vessel_ship size_entry/departure direction_berthing orientation direction'.

Ship Features #71 #44 #62 #24 #42 #22 #45 Cargo Ship_Small_Entry_Departure Posture 7.1 16.8 Cargo ship_small_departure_entry position 14.0 Cargo ship_small_departure_departure posture 4.4 6.1 Cargo ship_medium size_entry_departure posture 17.7 17.9 Cargo ship_medium_size_entry_entry position 15.3 Cargo ship_medium size_departure_departure posture 7.1 8.9 Cargo ship_medium_departure_entry position 8.9 Passenger ship_small_entry_departure posture 11.6 9.3 Passenger ship_small_departure_departure posture 6.0 8.2 Passenger ship_medium size_entry_departure posture 12.8 11.3 12.6 Passenger ship_medium size_entry_entry position 6.9 Passenger ship_medium size_departure_departure posture 6.8 5.3 8.0 Passenger ship_large_entrance_departure posture 13.3 13.5 11.8 Passenger ship_large_port_entry_entry position 16.6 14.1 Passenger ship_large_departure_departure posture 5.3 5.5 4.9 Passenger ship_large_departure_entry position 5.2 5.6 (Unit: minutes)

Analysis of vessel entry and departure characteristics

a) Analysis of passenger ship entry and departure characteristics

9 shows the results of analysis of the characteristics of the passenger ship entering and departing from Jeju Port and the travel time. When looking at the change by berth by departure and berthing posture of large passenger ships entering and departing from Jeju Port, the time of entry and exit by berth was similar except for seat 71, which is the berth of large passenger ships. When looking at the direction of arrival and departure of large passenger ships, the time required for departure was about 5.5 minutes, and there was no effect of moving time due to the berthing posture. It takes about 13.8 minutes to enter the port, and in the case of berth 71, it took more than 4 minutes to enter the port in the port position than to enter the port in the departure position. This has a large impact on the difficulty of shipbuilding in the direction of port entry as berth 72 protrudes in the diagonal direction. Looking at the direction of arrival and departure, it takes about 14 minutes to enter a port within the breakwater and about 6 minutes to depart, taking 8 minutes longer than the time of departure.

Looking at the changes by berth by departure and berthing posture of medium-sized passenger ships, the arrival and departure times for each berth are similar. Most of the medium-sized passenger ships are berthing in the departure position for easy departure. The average departure time of a medium-sized passenger ship is 6.2 minutes, and the time required to enter a port is 12.5 minutes, which takes 6 minutes more when entering the port.

When looking at the change of berths by departure and berthing posture of small passenger ships, the arrival and departure times of berths 22 and 24 differ by about 2 minutes. The two berths are similar in distance from the breakwater, but the difference in the berthing time is that the vessel berthing at the 22nd berth is a small vessel and the maneuverability is higher than that of the 24th berth. Small passenger ships, like medium-sized passenger ships, preferred the berthing position for easy departure. For ships berthing at berth 24, the arrival time took more than 5 minutes longer than the departure time.

b) Analysis of cargo ship entry and departure characteristics

10 shows the results of analysis of the characteristics and travel time of the cargo ship in Jeju Port. Looking at the change by berth for each berth by departure and berthing posture of medium-sized cargo ships entering and departing from Jeju Port, it takes about 2 minutes less for the 45th seat than the 71st for each berth. This is because there is a difference in the distance between seats 45 and 71 from the breakwater. Looking at the direction of arrival and departure, it takes about 8 minutes to depart, and about 17 minutes to enter a port, so it takes a lot of time to enter a port like other ships. In the case of medium-sized cargo ships, it takes more than 2 minutes to enter a port in a departure position than to enter a port in a port position.

When looking at the changes by berth by departure and berthing posture of small cargo ships, the arrival and departure times for each berth differ due to the different distances from the breakwater for each berth. The average time required for a small cargo ship to depart is 5.3 minutes and to enter a port is 12 minutes, which is 6.7 minutes more when entering a port.

How to use VTS control

The analyzed travel time statistics data of ships entering and leaving Jeju Port can accurately predict the movement of ships during VTS control of incoming and outgoing ships. Taking Jeju Port as an example, the VTS control utilization plan is as follows. First, the time required to enter the port of Jeju is 1.5 to 2.2 times longer than the time required to depart. In the case of many simultaneous incoming and outgoing ships in the one-way method, it will be possible to improve port efficiency by arranging outgoing ships first. Second, ships entering the port of Jeju prefer to berth in the departure position, and the movement time of the ships berthing in the departure position was shorter than that in the entry position.

Such a utilization plan can be applied differently depending on the geographic location and size of each port, the type and number of incoming and outgoing ships, etc. by analyzing the berthing and berthing time prediction method of the present invention for each port and the statistical output thereof.

In the above, the present invention has been exemplarily described through preferred embodiments, but the present invention is not limited to such specific embodiments and may take various forms within the scope of the technical idea presented in the present invention, specifically, the claims. may be modified, changed, or improved.

Claims (3)

For ships entering and departing from a specific port, receiving the track database for a certain period in the past transmitted from the automatic ship identification device,
Sorts the received track database in chronological order by ship type, ship size, and berthing direction,
A step of dividing the breakwater area and the port area of the specific port to designate the range of the breakwater passage area and the pier berthing area, and determining that the vessel is an incoming or outgoing vessel if it passes both the breakwater area and the port area,
a) If it enters the port area after passing the breakwater area, it is judged as an incoming vessel;
b) If it passes the breakwater area from the port area, it is judged as a departing vessel,
As a step of calculating the berthing and berthing time, the time required for entering the port is calculated as the difference between the time of arrival at the port and the time of entering the breakwater, and the time required for departure is calculated as the difference between the time of departure and the time of entering the breakwater.
A method of predicting the berthing time of a vessel in a port using AIS data.
The method of claim 1,
In the step of determining the entry or departure vessel,
a) to determine whether a specific vessel has entered the breakwater area;
If a vessel is located within the area, it is added to the list of vessels in the breakwater area,
If a ship in the ship list in the breakwater area is located in the port area and the moving average speed of the ship is less than the standard for berthing judgment, the ship is determined to be berthing and the ship is added to the list of incoming ships;
b) to determine whether a particular vessel has entered the port area;
If the relevant vessel is at a speed higher than the vessel berthing speed standard in the port area, it is added to the list of vessels waiting for departure;
When a vessel on the list of vessels waiting for departure enters the breakwater area, the vessel is added to the list of departing vessels.
A method of predicting the berthing time of a vessel in a port using AIS data.
The method of claim 1,
The method further comprising the step of calculating a result of analyzing the time taken for berthing or berthing by vessel characteristics including vessel type, vessel size, and berthing direction by using the vessel’s track database
A method of predicting the berthing time of a vessel in a port using AIS data.

Images