KR20220087166A - Ship apparatus and controlling method of the same - Google Patents

Abstract

A ship apparatus is disclosed. A ship device includes a distance sensor, a motor, and a distance sensor for sensing a distance to an obstacle or a port
The distance sensed by the distance sensor, the first reference distance, and the second reference distance are compared, and when the sensed distance is between the first reference distance and the second reference distance, the moving speed of the vessel device is reduced and a processor for controlling the speed of the motor.

Description

Ship apparatus and its control method

The present disclosure relates to a ship apparatus and a control method therefor, and more particularly, to a ship apparatus for sensing a distance to an obstacle or a port and a control method therefor.

Generally, in order to dock at the pier, the tugboat pulls or pushes the side of the ship with the help of the tugboat and the pilot to berth the ship, and the sensor device installed on the tugboat and the pier measures the distance and approach between the berthing ship and the pier. It sends various information necessary for berthing, such as speed and angle of the vessel, to the pilot in real time. Accordingly, the pilot collects the information received from the tugboat and the sensor device installed on the pier, calculates and instructs the best berthing route, so that the ship can be safely docked at the pier.

However, even with the geographical characteristics of the pier and the same pier, meteorological conditions such as current and wind direction are not constant when berthing at the pier, so accidents that occur while berthing occur frequently. In addition to physical damage, additional damage such as marine pollution and damage to pier facilities has also occurred, which is emerging as a major problem.

The present disclosure is in accordance with the above-described necessity, and an object of the present disclosure is to provide a ship apparatus for controlling a speed based on a distance from an obstacle or a port, and a method for controlling the same.

A ship apparatus according to an embodiment of the present disclosure for achieving the above object, a distance sensor for sensing a distance to an obstacle or a port, a motor, and a distance sensed by the distance sensor, a first reference distance, and a second and a processor that compares two reference distances, and controls the speed of the motor so that the moving speed of the vessel apparatus is reduced when the sensed distance is between the first reference distance and the second reference distance.

Here, the second reference distance may be an avoidance attempt distance or an eyepiece trial distance, and the first reference distance may be a distance longer than the second reference distance.

The communication interface may further include, and the processor may control the communication interface to transmit a warning notification to the user terminal when the sensed distance is between the first reference distance and the second reference distance.

Also, the processor may adjust a transmission period of the warning notification according to the sensed distance, and may adjust the transmission period to shorten as the sensed distance becomes shorter.

In addition, a GPS sensor for sensing the position of the vessel device, an acceleration sensor sensing the speed of the vessel device, and a flow rate sensor sensing the flow rate, the processor, the sensed distance, the sensed position, It is possible to control the speed of the motor so that the moving speed of the vessel device is reduced based on the sensed speed and the sensed flow rate.

On the other hand, the control method of the ship apparatus according to an embodiment of the present disclosure includes the steps of comparing a distance sensed by a distance sensor sensing a distance to an obstacle or a port, a first reference distance, and a second reference distance; When the sensed distance is between the first reference distance and the second reference distance, it may include controlling the speed of the motor so that the moving speed of the vessel device is reduced.

In addition, the second reference distance may be an avoidance attempt distance or an eyepiece trial distance, and the first reference distance may be longer than the second reference distance.

The method may further include transmitting a warning notification to the user terminal when the sensed distance is between the first reference distance and the second reference distance.

In addition, in the transmitting to the user terminal, the transmission period of the warning notification may be adjusted according to the sensed distance, and the transmission period may be adjusted so that the shorter the sensed distance is, the shorter the transmission period.

In addition, the vessel device further comprises a GPS sensor for sensing the position of the vessel device, an acceleration sensor for sensing the speed of the vessel device, and a flow rate sensor for sensing the flow rate, and controlling the speed of the motor comprises: Based on the sensed distance, the sensed position, the sensed speed and the sensed flow rate, the speed of the motor may be controlled so that the moving speed of the vessel device is reduced.

According to the above-described various embodiments, it is possible to operate on an optimal route by avoiding marine obstacles in the navigation route during operation, and autonomously berthing by adjusting the speed according to the distance from the port during berthing. In addition, it is possible to reduce the time and cost required for berthing of a vessel and to increase the safety and efficiency of berthing of an autonomous vessel.

1 is a block diagram showing the configuration of a ship apparatus according to an embodiment of the present disclosure.
2 is a view showing a plan view of a ship apparatus according to an embodiment of the present disclosure.
3 and 4 are diagrams for explaining autonomous navigation according to an embodiment.
5 is a view for explaining an autonomous eyepiece according to another embodiment.
6 is a block diagram illustrating a configuration of a ship apparatus according to an embodiment.
7 is a diagram for describing a management system according to an embodiment.

Hereinafter, the present disclosure will be described in detail with reference to the accompanying drawings.

Terms used in the embodiments of the present disclosure are selected as currently widely used general terms as possible while considering the functions in the present disclosure, which may vary depending on the intention or precedent of a person skilled in the art, the emergence of new technology, etc. . In addition, in specific cases, there are also terms arbitrarily selected by the applicant, and in this case, the meaning will be described in detail in the description of the corresponding disclosure. Therefore, the terms used in the present disclosure should be defined based on the meaning of the term and the contents of the present disclosure, rather than the simple name of the term.

In this specification, expressions such as “have,” “may have,” “include,” or “may include” indicate the presence of a corresponding characteristic (eg, a numerical value, function, operation, or component such as a part). and does not exclude the presence of additional features. The expression “at least one of A and/or B” is to be understood as indicating either “A” or “B” or “A and B”.

As used herein, expressions such as "first," "second," "first," or "second," can modify various elements, regardless of order and/or importance, and refer to one element. It is used only to distinguish it from other components, and does not limit the components.

In the present disclosure, a “module” or “unit” performs at least one function or operation, and may be implemented as hardware or software, or a combination of hardware and software. In addition, a plurality of “modules” or a plurality of “units” are integrated into at least one module and implemented with at least one processor (not shown) except for “modules” or “units” that need to be implemented with specific hardware. can be

Hereinafter, an embodiment of the present disclosure will be described in more detail with reference to the accompanying drawings.

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

According to FIG. 1 , the vessel apparatus 100 includes a distance sensor 110 , a motor 120 , and a processor 130 .

The vessel apparatus 100 according to an embodiment may be implemented as a tugboat or a bulk carrier, but is not necessarily limited thereto.

The vessel apparatus 100 may include various types of sensors. The sensor may measure a physical quantity or detect various data related to the operation of the ship apparatus 100, and may convert the measured or sensed information into an electrical signal.

The distance sensor 110 according to an example senses a distance to an obstacle or a port. The distance sensor 110 may be implemented as an ultrasonic sensor, a LIDAR (Light Detection And Ranging) sensor, or a depth camera. The distance sensor 110 according to an example may measure a distance between the vessel apparatus 100 and an obstacle or a port through a triangulation method, a time of flight (TOF) measurement method, or a phase difference displacement measurement method.

The motor 120 functions to move the vessel apparatus 100 and may be implemented as a stepping motor according to an example. In addition, the ship device 100 is a power generating device for generating power (eg, a gasoline engine, a diesel engine, a liquefied petroleum gas (LPG) engine, an electric motor, etc.) according to the fuel (or energy source) used, and movement Steering device for controlling the direction (eg, mechanical steering (manual steering), hydraulic steering (hydraulics steering), electronic control power steering (EPS), etc.), a driving device for driving the ship device 100 according to power (eg propellers, etc.), and the like.

The processor 130 controls the overall operation of the vessel apparatus 100 . Specifically, the processor 130 may be connected to each component of the ship apparatus 100 to control the overall operation of the ship apparatus 100 . For example, the processor 130 may be connected to the distance sensor 110 and the motor 120 to control the operation of the vessel apparatus 100 .

According to an embodiment, the processor 130 includes a digital signal processor (DSP), a microprocessor, a central processing unit (CPU), a micro controller unit (MCU), and a micro processing unit (MPU). unit), a Neural Processing Unit (NPU), a controller, and an application processor (AP), etc.

The processor 130 may be implemented in a system on chip (SoC), large scale integration (LSI), or a field programmable gate array (FPGA) format. In addition, the processor 130 may include a volatile memory such as SRAM.

The vessel device 100 according to an embodiment controls the rotation speed of the motor 120 based on the distance to an external obstacle or a port sensed through the distance sensor 110 (or a distance sensor) to control the rotation speed of the vessel device 100 . ) can control the movement speed.

According to an example, the vessel device 100 may proceed with movement according to autonomous operation or autonomous berthing. Here, autonomous driving is an operation of driving along a desired path, and the direction, speed, strength, etc. of the motor may be controlled based on various sensor values. Autonomous berthing is the operation of approaching and berthing the pier (or port), and in general, the motor speed can be controlled so as to be inversely proportional to the distance between the bus and the pier.

In particular, the processor 130 may control the speed of the motor 120 by comparing the distance sensed by the distance sensor 110 , the first reference distance, and the second reference distance.

When the sensed distance is between the first reference distance and the second reference distance, the processor 130 may control the speed of the motor 120 so that the moving speed of the vessel apparatus 100 is reduced. The second reference distance may be an avoidance attempt distance or a distance preset as an eyepiece trial distance. Also, the first reference distance may be a distance longer than the second reference distance by a threshold distance or more.

Also, when the sensed distance is between the first reference distance and the second reference distance, the processor 130 may transmit a warning notification to a user terminal (not shown). In this case, the processor 130 may adjust the transmission period of the warning notification according to the sensed distance. For example, the processor 130 may adjust the transmission period to shorten the transmission period as the sensed distance decreases.

On the other hand, in some cases, various sensors may be provided in the port, and data collected through the corresponding sensors may be provided to the vessel apparatus 100 . In this case, the ship apparatus 100 may control the speed of the motor 120 using various data received from the port.

2 is a view showing a plan view of a ship apparatus according to an embodiment of the present disclosure.

According to an embodiment, the distance sensor 110 includes a plurality of sensors as shown in FIG. 2 , and the plurality of sensors are provided in a plurality of areas outside the ship apparatus 100 to prevent obstacles located in different directions or The distance to the port can be sensed.

The motor 120 may be provided on the rear side of the vessel apparatus 100 as shown in FIG. 2 , but is not necessarily limited thereto.

3 and 4 are diagrams for explaining autonomous navigation according to an embodiment of the present disclosure.

According to an embodiment of the present disclosure, the ship apparatus 100 may autonomously operate to avoid the marine obstacle 20 based on the various embodiments described above as shown in FIGS. 3 and 4 .

5 is a view for explaining an autonomous eyepiece according to an embodiment of the present disclosure.

According to one embodiment of the present disclosure, the vessel apparatus 100 may autonomously dock at a port (or eyepiece) 30 based on the above-described various embodiments as shown in FIG. 5 .

6 is a block diagram illustrating the configuration of a ship apparatus according to an embodiment of the present disclosure.

According to FIG. 6 , the vessel device 100 ′ includes a distance sensor 110 , a motor 120 , a processor 130 , a communication interface 140 , an acceleration sensor 150 , a GPS sensor 160 and a flow rate sensor 170 . may include A detailed description of the configuration shown in FIG. 6 overlapping the configuration shown in FIG. 1 will be omitted.

The communication interface 140 communicates with an external device. Here, the external device may be a user terminal or a server (eg, a management server).

The communication interface 140 includes at least one of a Wi-Fi module, a Bluetooth module, an Ethernet communication module, and an infrared communication module. Here, each communication module may be implemented in the form of at least one hardware chip. The Wi-Fi module and the Bluetooth module perform communication using a Wi-Fi method and a Bluetooth method, respectively. In the case of using a Wi-Fi module or a Bluetooth module, various types of connection information such as an SSID and a session key are first transmitted and received, and then various types of information can be transmitted/received after communication connection using this. The infrared communication module communicates according to the infrared data association (IrDA) technology, which wirelessly transmits data in a short distance using infrared that is between visible light and millimeter waves.

In addition to the above-described communication methods, the wireless communication module includes Zigbee, 3rd Generation (3G), 3rd Generation Partnership Project (3GPP), Long Term Evolution (LTE), LTE Advanced (LTE-A), 4th Generation (4G), 5G It may include at least one communication chip that performs communication according to various wireless communication standards such as (5th Generation).

The acceleration sensor 150 may sense the speed (or acceleration) of the vessel apparatus 100 .

The GPS sensor 160 may sense the position of the vessel device 100 .

The flow sensor 170 may sense the flow rate.

The processor 130 may use information such as a speed (or acceleration) of the ship apparatus 100 , a position of the ship apparatus 100 , and a flow velocity to adjust the speed of the motor 120 .

In addition, the ship device 100 may further include a sensor for collecting various data related to the operation of the ship device 100 , such as a direction sensor and an air volume sensor, and a power supply unit (eg, a battery).

7 is a diagram for describing a management system according to an embodiment.

According to FIG. 7 , the management system may include the ship device 100 , the user terminal 200 , and the management server 300 . Here, the user terminal 200 may be implemented as a smart phone, tablet, PC, or the like.

According to an example, the vessel device 100 may transmit a warning notification to the user terminal 200 and/or the management server 300 when a warning is required to the user based on distance information from an external obstacle or a port. Alternatively, the vessel device 100 may transmit the distance information itself to an external obstacle or a port to the user terminal 200 and/or the management server 300 .

In this case, the user terminal 200 may display a warning notification on the screen or output it as a sound. According to an example, the user terminal 200 may provide a warning notification through an application that is pre-installed or downloaded from a server (not shown). In addition, the user terminal 200 may provide real-time distance information with an external obstacle or a port through an application screen.

The management server 300 may manage autonomous operation and/or autonomous berthing of a plurality of vessel devices. According to an example, the management server 300 may receive the operation information and/or the berthing information of the vessel device 100 and convert it into a database. In addition, the management server 300 may transmit the received driving information and/or berthing information to the user terminal 200 .

According to the above-described various embodiments, it is possible to operate on an optimal route by avoiding marine obstacles in the navigation route during operation, and autonomously berthing by adjusting the speed according to the distance from the port during berthing.

In addition, it is possible to reduce the time and cost required for berthing of a vessel and to increase the safety and efficiency of berthing of an autonomous vessel. In addition, by providing the actual distance to the obstacle or port through the application in real time, the user can easily recognize the distance to the obstacle or berth.

In addition, it has the effect of allowing the crew and staff working at the berth to recognize the risk of collision with obstacles and the berth through a warning notification.

On the other hand, the above-described methods according to various embodiments of the present invention may be implemented in the form of an application that can be installed in an existing ship apparatus.

In addition, the above-described methods according to various embodiments of the present invention may be implemented only by software upgrade or hardware upgrade of at least one of the existing ship devices.

In addition, a non-transitory computer readable medium in which a program for sequentially performing the control method according to the present invention is stored may be provided.

The non-transitory readable medium refers to a medium that stores data semi-permanently, rather than a medium that stores data for a short moment, such as a register, cache, memory, and the like, and can be read by a device. Specifically, the various applications or programs described above may be provided by being stored in a non-transitory readable medium such as a CD, DVD, hard disk, Blu-ray disk, USB, memory card, ROM, and the like.

In addition, although preferred embodiments of the present invention have been illustrated and described above, the present invention is not limited to the specific embodiments described above, and the technical field to which the present invention pertains without departing from the gist of the present invention as claimed in the claims In addition, various modifications are possible by those of ordinary skill in the art, and these modifications should not be individually understood from the technical spirit or perspective of the present invention.

100: vessel device 110: distance sensor
120: motor 130: processor
14O: communication interface 150: acceleration sensor
160: GPS sensor 170: flow sensor

Claims (10)

In the ship apparatus,
a distance sensor for sensing a distance to an obstacle or a port;
motor; and
comparing the distance sensed by the distance sensor, the first reference distance, and the second reference distance;
A processor for controlling the speed of the motor so that the moving speed of the ship device is reduced when the sensed distance is between the first reference distance and the second reference distance. According to claim 1,
The second reference distance is an evasion attempt distance or an eyepiece trial distance,
The first reference distance is longer than the second reference distance. According to claim 1,
It further comprises a communication interface;
The processor is
Controlling the communication interface to transmit a warning notification to a user terminal when the sensed distance is between the first reference distance and the second reference distance, the vessel apparatus. 4. The method of claim 3,
The processor is
Adjusts the transmission period of the warning notification according to the sensed distance,
As the sensed distance becomes shorter, the transmission period is adjusted to be shorter. According to claim 1,
a GPS sensor for sensing the position of the vessel device;
an acceleration sensor for sensing the speed of the vessel device; and
It further includes; a flow sensor for sensing the flow rate,
The processor is
Based on the sensed distance, the sensed position, the sensed speed and the sensed flow velocity, the vessel device for controlling the speed of the motor so that the moving speed of the vessel device is reduced. In the control method of a ship apparatus,
comparing a distance sensed by a distance sensor sensing a distance to an obstacle or a port, a first reference distance, and a second reference distance; and
When the sensed distance is between the first reference distance and the second reference distance, controlling the speed of the motor so that the moving speed of the vessel device is reduced. 7. The method of claim 6,
The second reference distance is an evasion attempt distance or an eyepiece trial distance,
The first reference distance is longer than the second reference distance. 7. The method of claim 6,
and transmitting a warning notification to the user terminal when the sensed distance is between the first reference distance and the second reference distance. 9. The method of claim 8,
The step of transmitting to the user terminal,
Adjusts the transmission period of the warning notification according to the sensed distance,
and adjusting the transmission period to be shorter as the sensed distance becomes shorter. 7. The method of claim 6,
The vessel device,
a GPS sensor for sensing the position of the vessel device;
an acceleration sensor for sensing the speed of the vessel device; and
It further includes; a flow sensor for sensing the flow rate,
The step of controlling the speed of the motor comprises:
A control method for controlling the speed of the motor so that the moving speed of the vessel apparatus is reduced based on the sensed distance, the sensed position, the sensed speed, and the sensed flow rate.

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