WO2020189888A1 - 선박의 효율 운항을 위한 항로 안내 방법 - Google Patents
선박의 효율 운항을 위한 항로 안내 방법 Download PDFInfo
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- WO2020189888A1 WO2020189888A1 PCT/KR2020/001144 KR2020001144W WO2020189888A1 WO 2020189888 A1 WO2020189888 A1 WO 2020189888A1 KR 2020001144 W KR2020001144 W KR 2020001144W WO 2020189888 A1 WO2020189888 A1 WO 2020189888A1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/203—Specially adapted for sailing ships
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F18/00—Pattern recognition
- G06F18/20—Analysing
- G06F18/23—Clustering techniques
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q50/00—Information and communication technology [ICT] specially adapted for implementation of business processes of specific business sectors, e.g. utilities or tourism
- G06Q50/40—Business processes related to the transportation industry
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G3/00—Traffic control systems for marine craft
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/024—Guidance services
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
- G01C21/30—Map- or contour-matching
- G01C21/32—Structuring or formatting of map data
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
- G06F16/20—Information retrieval; Database structures therefor; File system structures therefor of structured data, e.g. relational data
- G06F16/29—Geographical information databases
Definitions
- the present disclosure relates to a route guidance method for efficient navigation of a ship.
- Korean Laid-Open Patent Publication No. 10-2018-0076936 discloses a technology for estimating marine environment information around the ship by installing cameras and various types of measurement sensors on the ship, and guiding the optimal route of the ship.
- the existing technology based on sensors has been a high entry barrier for mid-sized and small ships because the cost of installing the sensor on the ship and the annual maintenance cost are high.
- Korean Patent Publication No. 10-1103455 discloses a technique for providing an optimal route using AIS (Auto Identification System) data of a ship.
- AIS data includes basic information about the ship and the current sea position of the ship, so the position of the ship can be checked through AIS data, but ship information included in the AIS data (for example, ship name, AIS equipment ID, ship Unique number, call sign, ship type, etc.) were directly entered by the user into the AIS equipment installed in the ship, so there was a possibility that the data would be entered differently from the actual information due to the user's error or intention when entering information. It was not easy to grasp the exact specification information of the ship in operation from the data alone.
- ship information included in the AIS data for example, ship name, AIS equipment ID, ship Unique number, call sign, ship type, etc.
- the existing ship route guidance system only provides the shortest route based on a certain depth when route guidance, the specifications of the ship to be operated were not sufficiently considered.
- the route is guided by connecting the ship's departure point and destination, but since it is a method of connecting an area with a depth of more than a certain standard in the shortest distance, it was limited to guide the port in consideration of the ship's specifications. Therefore, there is a need to develop a new technology capable of guiding the optimal route for each ship specification.
- the technical idea of the present disclosure is to solve the above-described problems, a technology capable of deriving an optimal route without installing a sensor for fuel saving by checking the performance of the ship and calculating the optimal operating speed. There is a purpose to provide.
- the present disclosure has another object to provide a technology capable of guiding an optimal route for each ship specification in consideration of the type and size of the ship.
- a route guidance method for efficient navigation of a vessel is a route guidance method performed by a route guidance system of a vessel, and is used for each vessel from the collected AIS (Auto Identification System) data. Extracting location information for each vessel of extracting location information; A ship position display step of displaying the position of the ship according to the position information on an electronic chart; A clustering step of clustering points located within a certain area among a plurality of points displayed on the electronic chart; A route network creation step of generating a route network of a ship using the clustered points; And a step of deriving a recommended route for deriving a recommended route for each vessel based on the generated route network of the vessel.
- AIS Auto Identification System
- the location information is extracted for each IMO (International Maritime Organization) number of the ship
- the entire area of the electronic chart is a square-shaped cell unit having a constant size.
- Each cell includes an area for selecting a main point formed along the boundary line of the cell, and formed to have a certain area from the boundary line of the cell toward the center of the cell.
- the main point The points existing in the selection area are clustered and the clustered points are extracted as main points, and the main points existing in the same main point selection area are analyzed by time and classified into entry points and exit points, and the route network creation step
- a route network is created by connecting the classified entry points and exit points to each other, but the position of the ship according to the location information is reflected in the route network, and in the step of deriving the recommended route, from the generated plurality of route networks
- a recommended route is selected in consideration of at least one of a shortest condition and an obstacle condition, and the shortest condition includes at least one of a moving distance and a moving time of the ship, and the obstacle condition is at least one of weather information and information on a danger zone. It may include.
- the route guidance method for efficient navigation of the ship is to select a point with the same hourly position for a predetermined period of time among the vessel positions displayed on the electronic chart as a stopping point, and cluster a plurality of selected stopping points as a major stopping point.
- one of the location points of the vessel displayed in the cell having the non-covered area is an entry point of a cell adjacent to the cell having the non-covered area or
- a line passing through the non-included area may be created, and one of arbitrary points forming the line may be selected as a virtual entry point or exit point.
- the route network generation step includes: a route clustering step of determining the similarity between route networks using a Hausdorff distance algorithm, and clustering route networks having a similarity greater than or equal to a predetermined value into one route network; And a network update step of generating a route network at regular intervals and updating the route network by comparing it with the previously generated route network.
- a route network that has not been previously created is found, it is newly created.
- a route network that is added as a network and has not been used for a certain period of time before the current point can be classified as a selected route network.
- the route guidance method for efficient navigation of the ship is to check the ship type and ship size information previously submitted to Lloyd's Register for issuance of the ship's IMO number, and compare it with the ship's IMO number.
- Ship information specifying step for specifying the type and size further comprising, in the step of deriving the recommended route, when a route request for navigating from a specific origin to a specific destination is received, each main point constituting the route network is set as a node.
- the optimum route for each vessel can be derived without installing various sensors for checking the performance of the vessel, it is possible to reduce the installation cost and annual maintenance cost of the sensor.
- ETA Estimated Time of Arrival
- FIG. 1 is a block diagram schematically showing a navigation system for a ship according to an embodiment of the present invention.
- FIG. 2 is a flowchart schematically showing a method for guiding a route of a ship according to an embodiment of the present invention.
- FIG. 3 is a detailed flowchart illustrating a step of creating a route network according to an embodiment of the present invention.
- FIG. 4 is a detailed flowchart illustrating a step of deriving a recommended route according to an embodiment of the present invention.
- FIG. 5 is a conceptual diagram schematically showing a state in which the position of a ship is displayed on an electronic chart in an embodiment of the present invention.
- FIG. 6 is a conceptual diagram schematically showing a process of extracting clustered points as main points in an embodiment of the present invention.
- FIG. 7 is a conceptual diagram schematically showing a process of extracting points existing in a main point selection area as main points in an embodiment of the present invention.
- FIG. 8 is a conceptual diagram schematically showing a process of generating a route network in an embodiment of the present invention.
- FIG. 9 is a conceptual diagram schematically illustrating a process of creating a route network by selecting a virtual entry point and an exit point when there are no entry points and exit points in the main point selection area in a cell in an embodiment of the present invention. to be.
- FIG. 10 is a conceptual diagram schematically illustrating a process of deriving the shortest bypass by bypassing the danger zone when the shortest route derived in an embodiment of the present invention and an area set as a danger zone overlap.
- references to “one” or “one” embodiment of the present invention in this specification are not necessarily to the same embodiment, and they mean at least one.
- first and second are not used in a limiting meaning, but are used for the purpose of distinguishing one component from another component.
- FIG. 1 is a block diagram schematically showing a route guidance system of a ship according to an embodiment of the present invention
- FIG. 5 is a schematic block diagram showing the position of a ship on an electronic chart in an embodiment of the present invention.
- Fig. 6 is a conceptual diagram schematically showing a process of extracting clustered points as main points in an embodiment of the present invention
- Fig. 7 is a point existing in a main point selection area in an embodiment of the present invention
- FIG. 8 is a conceptual diagram schematically showing a process of extracting data as main points
- FIG. 8 is a conceptual diagram schematically showing a process of generating a route network in an embodiment of the present invention
- FIG. 9 is a cell in an embodiment of the present invention.
- FIG. 10 is an embodiment of the present invention.
- This is a conceptual diagram schematically showing the process of deriving the shortest route by bypassing the dangerous area when the shortest route derived from and the area set as a dangerous area overlap.
- the route guidance system 10 for efficient navigation of the ship includes a location information extraction unit 100, an AIS data collection unit 110, a cell division unit 200, a ship position display unit 300, and main Point extraction unit 400, network generation unit 500, recommended route derivation unit 600, stopping point generation unit 700, variable cell division unit 800, additional main point selection unit 900, route clustering unit (1000), a network update unit 1100, a ship information specifying unit 1200, a shortest route derivation unit 1300, a detour derivation unit 1400, and a shortest detour derivation unit 1500.
- a location information extraction unit 100 includes a location information extraction unit 100, an AIS data collection unit 110, a cell division unit 200, a ship position display unit 300, and main Point extraction unit 400, network generation unit 500, recommended route derivation unit 600, stopping point generation unit 700, variable cell division unit 800, additional main point selection unit 900, route clustering unit (1000), a network update unit 1100, a ship information specifying unit 1200, a
- the AIS data collection unit 110 may collect and store AIS data for each vessel from a separate AIS database server (not shown) in which AIS data of a vessel in operation is stored.
- Dynamic data and static data are included in AIS data, and static data may include ship's IMO number, ship's name, ship's length, width, and type information.
- the dynamic data may include ship speed, ship position information (latitude, longitude), bow direction, ship rotation rate information, and the like.
- the location information extraction unit 100 may check the AIS data collected by the AIS data collection unit 110 and extract location information for each IMO number of each ship.
- the ship position display unit 300 may grasp the position information of the ship extracted by the position information extraction unit 100 by time, and display the position point 1113 of the ship on the previously stored electronic chart 11.
- the position point of a ship means a point indicating which position the corresponding ship exists in correspondence with the electronic chart 11.
- the cell partition unit 200 may divide the entire area of the electronic chart 11 in units of cells 111.
- the cell 111 means a square shape having a certain size.
- the cell division unit 200 may allocate a main point selection area 1112 inside each cell 111.
- the main point selection area 1112 is formed along the boundary line 1111 of the cell 111, but is formed to have a certain area from the boundary line 1111 of the cell 111 toward the center of the cell 111 Can be.
- the main point extraction unit 400 clusters points existing in the main point selection area 1112 (i.e., position points indicating the position of the ship) according to a certain standard, and converts the clustered points into one main point. Can be extracted.
- the main point extracting unit 400 may cluster position points of a ship using a density-based spatial clustering of applications with noise (DBSCAN), which is a density-based clustering algorithm.
- DBSCAN density-based spatial clustering of applications with noise
- the DBSCAN algorithm inputs a specific radius (eps) for searching the surrounding space around arbitrary data and the minimum number of data within the radius (minPts) for recognition as a cluster.
- the main point extraction unit 400 forms a cluster when there are more than a predetermined number of position points in a circle of a predetermined radius using the DBSCAN algorithm, and expands the cluster by performing the same inspection around neighboring position points.
- the main point extraction unit 400 sequentially reviews from No. 1 to No. 9 in order to cluster the nine location points.
- a circle as shown in (b) of FIG. 6 is drawn, and the minimum number of data to be included in the circle can be set to a specific value (for example, 4). .
- a specific value for example, 4
- the main point extraction unit 400 may select an arbitrary location point among the clustered six core points and extract it as one main point.
- the main point extraction unit 400 clusters points existing in the main point selection area 1112 to provide a first group 112, a second group 113, a third group 114, and It can be classified into the fourth group 115, by selecting a random location point for each group and selecting the first main point (1121), the second main point (1131), the third main point (1141) and the fourth main point. It can be extracted as point 1151.
- the main point extracting unit 400 may analyze main points existing in the same main point selection area by time and classify them into an entry point and an exit point.
- the entry point means a point at the time when the ship enters the main point selection area
- the exit point means the point just before the ship leaves the same main point selection area.
- FIG. 8A the position of the ships when three ships move from left to right are displayed in the cell 131.
- the main point extraction unit 400 can group points existing in the main point selection area 1311 and classify them into a fifth group 118 and a sixth group 119, and a random location for each group One point may be selected and extracted as the fifth main point 1181 and the sixth main point 1191.
- the main point extraction unit 400 analyzes the fifth main point 1181 and the sixth main point 1191 existing in the same main point selection area 1311 by time, and the fifth main point 1181 Is classified as an entry point, and the sixth main point 1191 is classified as an exit point. That is, since the position information of the ship can be identified by time by the ship position display unit 300, the main point extraction unit 400 enters the fifth main point 1181 that precedes the sixth main point 1191. And the sixth main point (1191) as an exit point.
- the network generator 500 creates a route network by connecting the classified entry points and exit points to each other, but when the route network is generated, the position of the ship according to the location information may be reflected.
- position points of the vessel by time are displayed in the cell 131 by the vessel position display unit 300, and the network generation unit 500 is the fifth main point 1181 as an entry point.
- the sixth main point (1191), which is an exit point can be connected to each other to create a single route network.
- actual location points of the ship may be included on a route network created by connecting the entry point and the exit point. That is, since the route network created by the network generator 500 is generated based on the actual route of the ship, reliability of the route may be improved.
- the recommended route derivation unit 600 may select a recommended route by considering at least one of a shortest condition and a failure condition from a plurality of route networks generated by the network generator 500.
- the shortest condition may include at least one of a moving distance and a moving time of the ship
- the failure condition may include at least one of weather information and information on a danger zone.
- the danger zone may be applied as a typhoon occurrence area or a pirate haunting area
- the meteorological information may be applied as information on wind, air pressure, water temperature, swell or wave height.
- the recommended route derivation unit 600 may determine the recommended route in consideration of the obstacle condition. For example, the recommended route derivation unit 600 may check weather conditions for each cell 111 and 121 and determine whether or not a corresponding vessel can be operated. For a more specific example, the recommended route derivation unit 600 integrates information on wind, air pressure, water temperature, swell or wave height, and calculates the weather external force according to the type and size of the ship. This small route can be recommended as a recommended route. In general, as the external force in the weather increases, the fuel consumption of the ship passing through the region increases. Accordingly, the recommended route derivation unit 600 may contribute to fuel saving of a ship by deriving a route with less external force in the weather. In addition, the recommended route derivation unit 600 may select a recommended route in a direction in which the danger zone is avoided. In addition, the recommended route derivation unit 600 may receive information on weather or danger zones through a separate failure condition data providing server (not shown).
- the recommended route derivation unit 600 may include a shortest route derivation unit 1300, a detour derivation unit 1400, and a shortest detour derivation unit 1500.
- the shortest route derivation unit 1300 sets each major point constituting the route network as a node (N), and uses a route search algorithm to each node ( N)
- the shortest route considering the cost can be derived.
- a known shortest path algorithm, all path algorithm, Dijkstra's algorithm, or A star algorithm may be applied as the path search algorithm. If it is an algorithm that searches for the shortest path in consideration of the cost value between the node (N) and the node (N) constituting the path, other known algorithms may be used.
- the shortest route derivation unit 1300 identifies eight main points (No. 0 to 7) constituting a plurality of route networks. It is set as a node (N), and the shortest route is derived by considering the cost between each node (N).
- the cost refers to the cost required to move the node N and the node N.
- the cost between the nodes N may be determined in such a manner that the cost increases as the movement distance between the nodes N is longer or the movement time increases, and the cost decreases when the movement distance or movement time decreases.
- a route network connecting node 0, node 4, and node 7 may be derived as the shortest route.
- the bypass derivation unit 1400 checks whether the shortest route derived by the shortest route derivation unit 1300 and the area set as the danger zone A overlap, and if it is determined that they overlap, it does not overlap with the danger zone A. It is possible to search for a node (N) that exists within a certain distance from the danger zone (A), select the node (N) as a bypass point, and use this to derive a path that can bypass the danger zone (A).
- the detour derivation unit 1400 checks a dangerous area (A; for example, a pirate haul area)
- the shortest route derived by the shortest route derivation unit 1300 is a dangerous area. If it is judged that it overlaps with (A), it is possible to search for a node (N) within a certain distance from the danger zone (A) without overlapping with the danger zone (A), and select nodes 2 and 5 as bypass points. have. That is, the detour derivation unit 1400 may derive a detour capable of bypassing the danger zone A among a plurality of routes from the origin (node 0) to the destination (node 7).
- the bypass derivation unit 1400 may derive a first bypass circuit reaching node 0, node 2, node 3, and node 7 by using node 2 as a bypass point.
- the bypass derivation unit 1400 may derive a second bypass circuit reaching node 0, node 1, node 5, node 6, and node 7 using node 5 as a bypass point.
- the shortest bypass deriving unit 1500 may derive the shortest detour using a path search algorithm when there are a plurality of detours derived by the detour deriving unit 1400. Referring to (c) of FIG. 11, the shortest bypass derivation unit 1500 compares the costs between nodes N constituting the first and second bypasses, so that the cost among the first and second bypasses is relatively The shortest bypass can be derived by selecting the smallest second bypass.
- the stop point generation unit 700 selects a point having the same time position for a predetermined period among the ship position points displayed on the electronic chart 11 by the ship position display unit 300 as a stop point, and
- the breakpoints of can be clustered and created as major breakpoints.
- the stopping point corresponds to the location of the port where the ship is actually anchored.
- the stop point generation unit 700 regards the same location point as a stop point without changing the position for a certain period of time, and may generate one main stop point by clustering the considered stop points.
- a method in which the breakpoint generation unit 700 clusters the breakpoints to generate one main breakpoint may be performed using a clustering algorithm like the main point extraction unit 400, so a redundant description will be omitted.
- a main stop point for each vessel may be generated through the stop point generator 700, and a port available for docking according to a vessel specification (eg, vessel type and size) may be estimated through this.
- variable cell division unit 800 uses variable cells 131, 132, 133, and 134 having a size different from that of the cells 111 and 121 made by the cell division unit 200.
- the entire area of the chart 11 can be re-districted.
- the variable cell partitioning unit 800 may allocate an additional main point selection area 1312 inside the variable cell 131.
- the area for selecting an additional main point 1312 is formed along the boundary line 1311 of the variable cell 131, but is constant from the boundary line 1311 of the variable cell 131 to the center direction of the variable cell 131. It can be formed to have an area.
- the additional key point selection unit 900 checks whether an entry point and an exit point exist in each key point selection area, and within the key point selection area (hereinafter referred to as'not included') in which the entry point and exit point do not exist.
- Virtual entry points and exit points can be created. Referring to Figure 9 (a), when there are entry points 13211 and 13411 and exit points 13212 and 13412 in the main point selection areas 1321 and 1341 of the cells 132 and 134, the entry point ( A route network connecting between 13211, 13411) and the departing points (13212, 13412) may be created, but in the case of the cell 133 where no entry point and exit point exist in the main point selection area 1331, the route network There is a possibility that is not generated.
- the additional key point selection unit 900 sets the search area 150 including a plurality of cells, and checks whether an entry point and an exit point exist in all the key point selection areas in the search area 150,
- One of the ship's location points (13313, 13314) displayed in the cell 133 having the non-covered area is the entry point 13411 or the exit point 13312 of the cells 132 and 134 adjacent to the cell 133 having the non-covering area.
- the route clustering unit 1000 may determine a similarity between route networks using a Hausdorff distance algorithm, and cluster route networks having a similarity greater than or equal to a predetermined value into one route network.
- the Hausdorff distance algorithm used by the route clustering unit 1000 as a method of determining the similarity of route networks is a method of expressing the similarity between two objects numerically, and the more similar two objects are, the Hausdorff distance (H) The smaller the value of and dissimilar, the larger the value.
- H the Hausdorff distance
- d(A,B) and d(B,A) are respectively calculated as in Equation 1 below.
- a is the coordinate of an arbitrary point belonging to A
- b is the coordinate of an arbitrary point belonging to B
- d(a,b) is the Euclidean distance between points a and b. Therefore, d(A,B) means the largest value among the minimum values among the distances from an arbitrary point belonging to object A to an arbitrary point of object B, and d(B,A) is an arbitrary point belonging to object B. Denotes the largest value among the minimum values among the distances to an arbitrary point of object A.
- the Hausdorff distance H(A,B) means the larger of d(A,B) and d(B,A) as shown in Equation 2 below.
- the route clustering unit 1000 compares a plurality of route networks created by the network generating unit 500 with each other, and when the similarity between route networks is greater than a certain value through the Hausdorfer distance algorithm, selects one random network, By deleting route networks other than the selected network, route networks with high similarity can be filtered into one route network.
- the route clustering unit 1000 is the first route 141 passing through the fifth main point 1181 as the entry point and the sixth main point 1191 as the exit point.
- the route clustering unit 1000 may improve data processing efficiency of the entire system by simplifying complex route networks.
- the network updater 1100 may update the route network by comparing it with the previously generated route network at regular intervals. For example, if a route network that has not been previously created is found, the network update unit 1100 may add it as a new network, and a route network that has not been used for a certain period of time from the present time may be classified as a selected route network. . In one embodiment, the network update unit 1100 controls the main point extraction unit 400 and the network generation unit 500 so that the main points are extracted in units of a certain period (for example, one month) and a route network is generated accordingly. can do.
- the network update unit 1100 may compare the newly created route network with existing route networks and, if it is determined that it is a route network that did not exist, may be added and stored as a new network. In addition, the network update unit 1100 compares the location points of the ships that have actually moved for a certain period with the route networks, and determines that they have not been used for a certain period (for example, one month before). The route network can be classified as a selected route network and stored separately.
- the ship information specification unit 1200 checks the ship type and ship size information previously submitted to the Lloyd's Register for issuance of the ship's IMO number, and compares it with the ship's IMO number to determine the type and size of the ship. Can be specified.
- the ship information specifying unit 1200 may receive ship types and ship information for each IMO number previously submitted to Lloyd's Register of Shipping from a separate ship specification storage server (not shown). Since the ship's IMO number is already secured by the location information extraction unit 100, the ship information specifying unit 1200 identifies the type and size of the ship by matching the ship type and ship information provided with the ship's IMO number. can do.
- a route guidance method according to an embodiment of the present invention will be described in accordance with the flowchart shown in FIG. 2, and will be described with reference to the drawings shown in FIGS. 1 to 10, but in order for convenience.
- the location information extraction unit 100 may extract location information for each ship from the collected Auto Identification System (AIS) data. Specifically, the location information extraction unit 100 may check the AIS data collected by the AIS data collection unit 110 and extract location information for each IMO number of each ship.
- AIS Auto Identification System
- the ship information specifying unit 1200 receives ship types and ship information for each IMO number previously submitted to Lloyd's Classification from a separate ship specification storage server, and receives the received ship type and ship information from a location information extraction unit. By matching with the IMO number of the ship secured by (100), the type and size of the ship can be specified.
- the ship position display unit 300 grasps the position information of the ship extracted by the position information extraction unit 100, and the electronic chart previously stored in the chart storage unit (not shown) (11) Can be displayed on the top. And, in this step, the entire area of the electronic chart 11 is divided by the cell division unit 200 in units of square-shaped cells 111 having a certain size, and each cell 111 contains the cell 111 The main point selection area 1112 formed along the boundary line 1111 and formed to have a certain area from the boundary line 1111 of the cell 111 toward the center of the cell 111 may be included.
- the stop point generation unit 700 selects a point with the same time-by-time position among the ship positions displayed on the electronic chart 11 for a predetermined period as a stop point, and clusters the selected plurality of stop points. It can be created as a major breakpoint.
- the main point extracting unit 400 may cluster points located within a certain area among a plurality of points displayed on the electronic chart 11, and extract the clustered points as one main point. Specifically, the main point extracting unit 400 may cluster position points existing in the main point selection area 1112 and extract the clustered position points as main points. In addition, the main point extracting unit 400 may analyze main points existing in the same main point selection area by time and classify them into an entry point and an exit point.
- the additional key point selection unit 900 checks whether an entry point and an exit point exist in each key point selection area, and a virtual entry into the key point selection area in which the entry point and exit point do not exist. Points and exit points can be created. Specifically, the additional main point selection unit 900 includes one of the ship's location points (13313, 13314) displayed in the cell 133 having the non-covered area, and the cells 132 and 134 adjacent to the cell 133 having the non-covering area.
- step S105 the classified entry point and the exit point are connected to each other to create a route network, but when the route network is generated, the position of the ship according to the location information may be reflected. Since the vessel location points by time are displayed in the cell 131 by the vessel location display unit 300, the network generator 500 may generate a single route network by connecting the entry point and the exit point to each other. In this case, actual location points of the ship may be included on a route network created by connecting the entry point and the exit point. According to an embodiment, this step may be subdivided into a route clustering step and a network update step.
- the route clustering unit 1000 may determine the degree of similarity between route networks using the Hausdorfer distance algorithm, and cluster route networks with a degree of similarity greater than or equal to a certain value into one route network. For example, when there are a plurality of route networks passing through the same main points, the route clustering unit 1000 calculates the similarity between routes based on an arbitrary route, and when the similarity is more than a certain value, only the route as the reference The remaining routes can be deleted.
- the network update unit 1100 may generate a route network for each regular period and update the route network by comparing it with the previously generated route network. For example, the main point extraction unit 400 and the network generation unit 500 are controlled to extract the main points every month and create a route network accordingly, and the newly created route network is combined with the existing route networks. In comparison, if it is determined that it is a non-existing route network, it can be added and stored as a new network. In addition, the network update unit 1100 may classify an existing route network that has not been used for one month from the current point in time as a selected route network and store it separately.
- the recommended route derivation unit 600 may derive the recommended route for each vessel based on the generated route network. Specifically, the recommended route derivation unit 600 may select a recommended route in consideration of at least one of a shortest condition and a failure condition from a plurality of generated route networks. According to an embodiment, this step may include a shortest route derivation step, a detour derivation step, and a shortest detour derivation step.
- the shortest route derivation unit 1300 sets each major point constituting the route network as a node (N), and uses a route search algorithm.
- the shortest route considering the cost between each node (N) can be derived.
- the detour derivation unit 1400 checks whether they overlap, the overlap with the danger zone (A). It searches for a node (N) that exists within a certain distance from the danger zone (A) and selects the node (N) as a bypass point, and uses this to derive a path that can bypass the danger zone (A). I can.
- the shortest detour derivation unit 1500 may derive the shortest detour with the lowest cost among the plurality of detours using a path search algorithm.
- the existing method of guiding the route using the past track data included in the AIS data can guide only the same route that went in the past, so it is insufficient to present an optimized route in consideration of unexpected variables or circumstances.
- a vast amount of route data is accumulated, so there is a disadvantage in that data processing efficiency is deteriorated.
- data processing efficiency is deteriorated.
- resources are distributed to provide excellent data processing efficiency. have.
- a route network may be constructed by extracting a route that can actually be operated based on AIS data, and this may be subdivided by type and size of a ship. Therefore, since it is possible to recommend a route in which a ship can actually operate while considering the ship specification, there is an advantage of having high reliability for the recommended route when establishing a route plan.
- the actual operation status of the ship by IMO number is confirmed, and the specification information of the ship in actual operation is verified through the ship information previously submitted to the Lloyd's Register of Shipping to provide accurate ship information.
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Abstract
Description
Claims (5)
- 선박의 항로 안내 시스템에 의해 수행되는 항로 안내 방법으로서,수집된 AIS(Auto Identification System) 데이터로부터 선박별 위치 정보를 추출하는 선박별 위치 정보 추출 단계;상기 위치 정보에 따른 선박의 위치를 전자해도 상에 표시하는 선박 위치 표시 단계;상기 전자해도에 표시된 복수의 지점 중 일정한 영역 내에 위치한 지점들을 군집화하는 군집 단계;군집화된 지점들을 이용하여 선박의 항로 네트워크를 생성하는 항로 네트워크 생성 단계; 및생성된 선박의 항로 네트워크를 바탕으로 선박별 추천 항로를 도출하는 추천 항로 도출 단계;를 포함하는 것을 특징으로 하는선박의 효율 운항을 위한 항로 안내 방법.
- 제1항에 있어서,상기 선박별 위치 정보 추출 단계에서, 해당 선박의 IMO(International Maritime Organization) 번호별로 위치 정보를 추출하고,상기 선박 위치 표시 단계에서, 상기 전자해도의 전체 영역은 일정한 크기를 갖는 정사각형 모양의 셀 단위로 구획된 것이며, 각 셀에는 상기 셀의 경계선을 따라 형성되되, 상기 셀의 경계선에서 상기 셀의 중심 방향으로 일정한 면적을 갖도록 형성된 주요점 선정용 영역이 포함되고,상기 군집 단계에서는, 상기 주요점 선정용 영역 내에 존재하는 지점들을 군집화시키고 군집화된 지점들을 주요점으로 추출하되, 동일한 주요점 선정용 영역 내에 존재하는 주요점들을 시간별로 분석하여 진입점과 진출점으로 분류하며,상기 항로 네트워크 생성 단계에서는, 분류된 진입점과 진출점을 서로 연결하여 항로 네트워크를 생성하되, 상기 항로 네트워크 내에는 상기 위치 정보에 따른 선박의 위치가 반영되며,상기 추천 항로 도출 단계에서는, 생성된 복수의 항로 네트워크로부터 최단 조건 및 장애 조건 중 적어도 하나를 고려하여 추천 항로를 선정하며, 상기 최단 조건은 선박의 이동 거리 및 이동 시간 중 적어도 하나를 포함하고, 상기 장애 조건은 기상 정보 및 위험구역에 대한 정보 중 적어도 하나를 포함하는 것을 특징으로 하는선박의 효율 운항을 위한 항로 안내 방법.
- 제2항에 있어서,상기 선박의 효율 운항을 위한 항로 안내 방법은상기 전자해도 상에 표시된 선박 위치 중에 기지정된 기간 동안 시간별 위치가 동일한 지점을 정지점으로 선정하고, 선정된 복수의 정지점을 군집화하여 주요 정지점으로 생성하는 주요 정지점 생성 단계; 및상기 주요점 선정용 영역 내에 진입점과 진출점이 존재하는지를 확인하고, 진입점과 진출점이 존재하지 않는 주요점 선정용 영역(이하, '미포함 영역'이라 함) 내에 가상의 진입점과 진출점을 생성하는 추가 주요점 선정 단계;를 더 포함하고,상기 추가 주요점 선정 단계에서는, 상기 미포함 영역을 갖는 셀 내에 표시된 선박의 위치점들 중 하나를 상기 미포함 영역을 갖는 셀과 인접한 셀의 진입점 또는 진출점과 연결함으로써 상기 미포함 영역을 통과하는 라인을 만들고, 상기 라인을 형성하는 임의의 지점 중 하나를 가상의 진입점 또는 진출점으로 선정하는 것을 특징으로 하는선박의 효율 운항을 위한 항로 안내 방법.
- 제2항에 있어서,상기 항로 네트워크 생성 단계는하우스도르프(Hausdorff) 거리 알고리즘을 이용하여 항로 네트워크들 간의 유사도를 판단하고, 유사도가 일정 수치 이상인 항로 네트워크들을 하나의 항로 네트워크로 군집화하는 항로 군집화 단계; 및일정한 주기별로 항로 네트워크를 생성하고, 기존에 생성된 항로 네트워크와 비교하여 항로 네트워크를 갱신하는 네트워크 갱신 단계;를 포함하고,상기 네트워크 갱신 단계에서는, 기존에 생성되지 않았던 항로 네트워크가 발견되면 이를 신규 네트워크로 추가하고, 현 시점으로부터 일정 기간 이전 동안 사용되지 않은 항로 네트워크는 도태된 항로 네트워크로 분류하는 것을 특징으로 하는선박의 효율 운항을 위한 항로 안내 방법.
- 제4항에 있어서,상기 선박의 효율 운항을 위한 항로 안내 방법은선박의 IMO 번호 발급을 위해 로이드 선급(Lloyd's Register)에 기제출된 선종과 선박의 크기 정보를 확인하고, 선박의 IMO 번호와 대조함으로써, 해당 선박의 종류와 크기를 특정하는 선박 정보 특정 단계;를 더 포함하고,상기 추천 항로 도출 단계는특정 출발지로부터 특정 목적지까지 운항하기 위한 항로 요청이 수신될 경우, 항로 네트워크를 구성하는 각 주요점을 노드로 설정하고, 경로 탐색 알고리즘을 이용하여 각 노드 간의 코스트를 고려한 최단 항로를 도출하는 최단 항로 도출 단계;도출된 최단 항로와 위험구역으로 설정된 영역이 중첩되는지를 확인하고 중첩된다고 판단되면, 상기 위험구역과 중첩되지 않으면서 상기 위험구역과 일정한 거리 이내에 존재하는 노드를 검색하고, 해당 노드를 우회점으로 선정하고 이를 이용하여 상기 위험구역을 우회할 수 있는 경로를 도출하는 우회로 도출 단계; 및도출된 우회로가 복수일 경우, 상기 경로 탐색 알고리즘을 이용하여 최단 우회로를 도출하는 최단 우회로 도출 단계;를 포함하는 것을 특징으로 하는선박의 효율 운항을 위한 항로 안내 방법.
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