WO2023128304A1

WO2023128304A1 - Hull surface management system

Info

Publication number: WO2023128304A1
Application number: PCT/KR2022/018812
Authority: WO
Inventors: 한성호; 박영준; 박승연
Original assignee: (주)에스엘엠
Priority date: 2021-12-28
Filing date: 2022-11-25
Publication date: 2023-07-06
Also published as: KR20230100049A

Abstract

The present invention provides a hull surface management system for providing information about a hull cleaning condition by obtaining a captured image of a hull external surface from a ship bottom cleaning robot cleaning a hull, the hull surface management system comprising: a control apparatus that divides a region of the hull to be cleaned into a plurality of unit regions by using pre-input ship information, and generates mapping data by mapping location information of the ship bottom cleaning robot and cleaning image data obtained by processing the captured image to the plurality of unit regions; and a management server that outputs a cleaning condition for each unit region of the hull and the location of the ship bottom cleaning robot cleaning the hull, by using the generated mapping data.

Description

Hull Surface Management System

The present invention relates to a hull surface management system, and more particularly, to a hull surface management system capable of efficiently providing the cleaning history of a ship and the cleaning status of each area of the hull.

In general, since ships are operated with the lower part of the hull submerged in seawater, various aquatic organisms such as various contaminants or various aquatic organisms such as sphagnum moss and barnacles may be attached to the bottom or side surface located in the water.

In this way, various foreign substances and aquatic organisms attached to the hull not only damage the appearance of the ship, but also act as resistance when the ship is operating and become a factor that reduces the speed of the ship, greatly increasing the fuel consumption of the ship. It is very important to periodically clean various foreign substances and aquatic organisms attached to the

Conventionally, in the cleaning work of the outer surface of the hull, divers directly entered and cleaned foreign substances and aquatic organisms attached to the outer surface of the hull, and the cleaning work for the outer surface of the hull was properly performed using a plurality of filmed images taken by divers for each major part of the hull. was able to confirm that

However, in the conventional cleaning confirmation method, only the major parts of the hull can check the cleaning state, and it is difficult to specifically check the cleaning state for the entire area of the hull.

Therefore, recently, there is a trend in use of a hull cleaning robot that travels while being attached to the outer surface of the hull and performs a hull cleaning operation with a brush or the like and simultaneously takes pictures.

Accordingly, the management company of the bottom cleaning robot provides the cleaning results based on the filmed images to customers such as ship owners in the form of a report after cleaning the hull using the bottom cleaning robot, but only the overall hull cleaning results. There was a problem in that the reliability of the hull cleaning was low because it could not be specifically confirmed whether the hull was cleaned well for each area.

In the present invention, a hull surface management system, specifically, divides the area to be cleaned of the hull into a plurality of unit areas, and in the plurality of unit areas, the location information of the bottom cleaning robot that cleans the hull, and the cleaning obtained from the bottom cleaning robot By mapping image data and providing it to a management server, it is intended to provide a hull surface management system that can easily check the location of a bottom cleaning robot and the cleaning status of each unit area through a web browser screen of the management server.

The technical problems to be achieved in the present invention are not limited to the technical problems mentioned above, and other technical problems not mentioned will be clearly understood by those skilled in the art from the description below. You will be able to.

In order to solve the above problems, the present invention provides a hull surface management system for providing information on the hull cleaning state by acquiring a photographed image of the outer surface of the hull from a bottom cleaning robot that cleans the hull, Control for generating mapping data by dividing the area to be cleaned of the hull into a plurality of unit areas using ship information and mapping the location information of the bottom cleaning robot and the cleaning image data obtained by processing the captured image to the plurality of unit areas. Provided is a hull surface management system including a management server that outputs the position of a bottom cleaning robot that cleans the hull and the cleaning status of each unit area of the hull by using the device and generated mapping data.

In addition, the mapping data includes at least one of vessel information, location information of the bottom cleaning robot, information on a plurality of unit areas set in the hull, and cleaning image data for each unit area of the hull, and the management server cleans using the vessel information. A hull image corresponding to the hull scale of the target ship is generated, a plurality of cell blocks corresponding to a plurality of unit areas set in the hull are displayed in a selectable form on the hull image, and the bottom cleaning robot is displayed on the plurality of cell blocks. Provided is a hull surface management system that displays the location and interlocks the cleaning image data of each corresponding unit area.

In addition, the management server outputs the cleaning image data of the unit area corresponding to the selected cell block among the plurality of cell blocks displayed on the hull image to the screen, and displays the image before cleaning, the image after cleaning, and the cleaning state video of the unit area. Provides a hull surface management system that outputs to the screen.

In addition, the management server provides a hull surface management system that resizes and displays a plurality of cell blocks displayed on the hull image so as to facilitate individual selection.

In addition, the management server provides a hull surface management system that distinguishably displays cell blocks that are being cleaned by the bottom cleaning robot and cell blocks that have been cleaned by the bottom cleaning robot among a plurality of cell blocks displayed on the hull image. do.

In addition, the management server is composed of a cloud server, and provides a hull surface management system for classifying and managing the cleaning history and related data of the vessel on which hull cleaning has been performed by ID.

In addition, the control device provides a hull surface management system that obtains in real time a preset reference point where the bottom cleaning robot is initially attached to the hull and a position moved from the reference point, and maps the location information of the bottom cleaning robot to a plurality of unit areas. do.

In addition, the control device includes a control unit for controlling the operation of the bottom cleaning robot, a unit area setting unit for dividing and setting the area to be cleaned of the hull into a plurality of unit areas using ship information, and location information and shooting from the bottom cleaning robot. A communication unit that receives images, a data mapping unit that matches and stores location information of the ship bottom cleaning robot and captured images for a plurality of unit areas, and analyzes and processes a plurality of captured images stored for each unit area of the hull to provide cleaning image data for each unit area. and a data mapping unit that generates mapping data by mapping ship information, location information of the bottom cleaning robot, information on a plurality of unit areas set in the hull, and cleaning image data for each unit area. to provide.

A hull surface management system according to an embodiment of the present invention divides an area to be cleaned of a hull into a plurality of unit areas, and obtains location information of a bottom cleaning robot cleaning the hull in the plurality of unit areas from the bottom cleaning robot. By mapping the cleaned image data and providing it to the management server, it is possible to easily check the location of the bottom cleaning robot and the cleaning status of each unit area through the web browser screen of the management server.

In addition, a plurality of cell blocks corresponding to the unit area of the hull are displayed through the web browser screen of the management server, and according to the selection of the cell block, images before cleaning, images after cleaning, and By visually outputting a cleaning state video, etc., the user can check the hull cleaning state in detail for each unit area.

In addition, the management server may store and manage the cleaning history for each ship in which hull cleaning has been performed, and provide convenience in ship cleaning management by listing and providing information on the cleaning history of each ship to the user.

The effects obtainable in the present invention are not limited to the effects mentioned above, and other effects not mentioned can be clearly understood by those skilled in the art from the description below. will be.

1 shows the configuration of a hull surface management system according to an embodiment of the present invention.

2 shows a detailed configuration of a control device according to an embodiment of the present invention.

3 illustrates a ship body in which a plurality of unit areas are set according to an embodiment of the present invention as an example.

4 and 5 show a web browser screen of a management server according to an embodiment of the present invention.

6 illustrates the configuration of an image processing unit according to an embodiment of the present invention.

7 illustrates a photographed image collected in one unit area of a hull according to an embodiment of the present invention.

8 illustrates a process of selecting a representative image from among a plurality of captured images of one unit region of a hull according to an embodiment of the present invention.

9 sequentially illustrates an image analysis and processing process using an image processing unit according to an embodiment of the present invention.

Hereinafter, preferred embodiments according to the present invention will be described in detail with reference to the accompanying drawings.

The detailed description set forth below in conjunction with the accompanying drawings is intended to describe exemplary embodiments of the present invention and is not intended to represent the only embodiments in which the present invention may be practiced.

In order to clearly describe the present invention in the drawings, parts irrelevant to the description may be omitted, and the same reference numerals may be used for the same or similar components throughout the specification.

In embodiments of the present invention, expressions such as “or” and “at least one” may represent one of the words listed together, or a combination of two or more.

Figure 1 shows the configuration of a hull surface management system 100 according to an embodiment of the present invention, Figure 2 shows the detailed configuration of the control device 110 according to an embodiment of the present invention, 3 shows an example of a hull in which a plurality of unit areas S are set according to an embodiment of the present invention.

1 to 3, the hull surface management system 100 according to an embodiment of the present invention may include a control device 110 and a management server 120.

The controller 110 may control the bottom cleaning robot 10 that cleans the outer surface of the hull.

In addition, the control device 110 divides the area to be cleaned of the hull into a plurality of unit areas S using the previously input vessel information, and uses the plurality of unit areas S to generate a bottom cleaning robot for cleaning the hull. Processing may be performed to map location information and cleaning image data for checking a cleaning state.

As an example, the control device 110 includes a control unit 111 for controlling the operation of the ship bottom cleaning robot 10 and a cleaning target area of the hull by using ship information of the cleaning target ship to a plurality of unit areas. A unit area setting unit 112 that is divided into (S) and set, a communication unit 113 that receives location information and a captured image of the hull from the ship bottom cleaning robot 10, and a plurality of unit areas S The data mapping unit 114 matches and stores the location information of the cleaning robot and the captured image, and analyzes and processes a plurality of captured images stored for each unit area (S) of the hull to obtain optimal cleaning image data for each unit area (S). It may include an image processing unit 200 to generate.

Here, the control unit 111 is provided to control the operation of the ship bottom cleaning robot 10. , It is possible to control image capturing through a camera (not shown).

That is, the bottom cleaning robot 10 that cleans the hull underwater is remotely controlled by the control unit 111, travels with wheels attached to the outer surface of the hull, and cleans the outer surface of the hull through a cleaning member. , The front can be photographed through a camera (not shown) provided on the front of the body to photograph the state before cleaning the outer surface of the hull, and the rear surface can be photographed through a camera (not shown) provided on the rear of the body to record the outer surface of the hull after cleaning. status can be photographed.

In addition, the bottom cleaning robot 10 may be equipped with a position sensor (not shown) capable of obtaining real-time positional information while being attached to the hull, and may transmit the obtained real-time positional information to the control device 110. there is.

As an example, the position sensor (not shown) includes an encoder (not shown) that detects the rotational speed of a wheel provided in the bottom cleaning robot 10 and calculates a movement amount, and a position sensor that detects the moving direction of the bottom cleaning robot 10. A gyro sensor (not shown) may be included.

Accordingly, the position to which the bottom cleaning robot 10 has moved from the reference point can be acquired in real time, using the position where the bottom cleaning robot 10 is first attached as a reference point.

In addition, the unit area setting unit 112 may divide and set the cleaning target area on the outer surface of the hull into a plurality of unit areas S using the input vessel information when vessel information of the vessel to be cleaned is input.

Here, the ship information may include information such as the type of ship, the size of the ship, the modeling data of the ship, and the waterline.

Specifically, the unit area setting unit 112 sets the area around and below the waterline as the area to be cleaned by using the ship information of the vessel to be cleaned, and sets the area to be cleaned on the outer surface of the hull as a plurality of unit areas (S). It can be set by dividing into .

At this time, one unit area S may be set as a rectangular area formed by several meters horizontally and several meters vertically, and a plurality of such unit areas S may be set on the outer surface of the hull.

As an example, in this embodiment, one unit area (S) may be set as a rectangular area formed with a width of 5 m and a length of 1 m, and a plurality of unit areas (S) are arranged in a lattice form in the area to be cleaned on the outer surface of the hull. can be set to

Accordingly, the unit area setting unit 112 sets the part of the hull around and below the waterline where the bottom cleaning robot 10 performs hull cleaning as a cleaning target area based on the modeling data of the hull designed by actual measurement, The area to be cleaned may be divided into grid-shaped unit areas (S) having a width of 5 m and a length of 1 m.

In addition, the communication unit 113 may be provided to communicate with the ship bottom cleaning robot 10 and the management server 120 .

The communication unit 113 may transmit and receive data by being connected to the bottom cleaning robot 10 attached to the hull by wire or wirelessly. Before and after images can be received.

In addition, the data mapping unit 114 may match and store the location information of the bottom cleaning robot and the captured images before and after cleaning for the plurality of unit areas S set in the hull.

Specifically, referring to FIG. 3, when the ship bottom cleaning robot 10 is attached to the hull for cleaning the outer surface of the hull, it transmits information on the first attached position within the hull to the control device 110, and the control device 110 The data mapping unit 114 of may match a position where the ship bottom cleaning robot 10 is first attached with a unit area S corresponding to the position.

At this time, the position to which the bottom cleaning robot 10 is attached may be set in advance, and the position may be used as a reference point.

In addition, the bottom cleaning robot 10 moves from the reference point on the outer surface of the hull and cleans the outer surface of the hull, simultaneously taking images before and after cleaning, and transmitting real-time location information and captured images to the control device 110. The data mapping unit 114 of (110) may match the real-time location of the ship bottom cleaning robot 10 with the unit area S corresponding to the real-time location.

Accordingly, the controller 110 can recognize which unit area S in the hull the ship bottom cleaning robot 10 is cleaning, and about the unit area S through which the bottom cleaning robot 10 has passed. Images before and after cleaning of the corresponding unit area S may be matched and stored.

At this time, in this embodiment, the data mapping unit 114 of the control device 110 determines the corresponding unit whenever the ship bottom cleaning robot 10 passes the unit area S and completes cleaning of the corresponding unit area S. Although images before and after cleaning are matched and stored for the area (S), as another example, after the bottom cleaning robot 10 completes cleaning for all unit areas (S) in the hull, all unit areas (S) Images before and after cleaning corresponding to each other may be matched and stored.

In addition, the image processing unit 200 may generate optimal cleaning image data for each unit area S by analyzing and processing a plurality of captured images stored for each unit area S of the hull.

Specifically, the image processing unit 200 uses the captured images stored for each unit area (S) to clearly detect the cleaning state for each unit area (S) of the hull. Cleaning image data such as an image and a video of a cleaning progress state may be generated, and the generated cleaning image data may be stored in the data mapping unit 114 .

At this time, the video may include a photo, graphic, still screen, image, and the like.

As an example, in one unit area S set on the outer surface of the hull, a plurality of captured images obtained by photographing the outer surface of the hull of the corresponding unit area S may be matched and stored in the data mapping unit 114, the image processing unit ( 200) can store the clearest pre-cleaning and post-cleaning images among a plurality of captured images in the unit area S as representative images of the corresponding unit area S, and also store a clear image-processed cleaning state video. .

Accordingly, in the data mapping unit 114, cleaning image data including a pre-cleaning image, an after-cleaning image, and a cleaning state video are matched and stored for each unit area S cleaned by the ship bottom cleaning robot 10. can

In addition, the data mapping unit 114 generates mapping data by mapping ship information, information on a plurality of unit areas set on the outer surface of the hull, location information of the bottom cleaning robot, and cleaning image data for each unit area (S), and mapping Data may be provided to the management server 120 .

In this case, the location information of the bottom cleaning robot included in the mapping data and the cleaning image data for each unit area (S) may be updated in real time.

Meanwhile, the management server 120 receives and stores mapping data from the control device 110, and uses the mapping data to display the position of the bottom cleaning robot 10 cleaning the hull and the unit area of the hull (S). ) can output the cleaning status.

That is, the management server 120 stores the vessel information of the vessel to be cleaned, the location information of the bottom cleaning robot, information on a plurality of unit areas set on the outer surface of the hull, and the cleaning image data for each unit area (S) of the hull included in the mapping data into a database. , and the cleaning status for each unit area (S) of the ship can be output through a preset web browser.

As an example, the management server 120 may be formed of a cloud server capable of storing vast amounts of data, classify data related to each vessel that has been cleaned, store the data in a database, and use a dedicated web application to store the stored data. It can be printed through the web browser screen.

4 and 5 show a web browser screen of the management server 120 according to an embodiment of the present invention.

Referring to FIG. 4, the management server 120 may output the mapping data received from the control device 110 through a web browser screen, converting the received information according to the screen setting for user convenience, and then outputting it. can do.

As an example, the web browser screen of the management server 120 may display a hull image (I) in which a plurality of cell blocks (B) are set, an image before cleaning (P1), an image after cleaning (P2), and a cleaning state. A video P3 or the like may be displayed.

Specifically, the management server 120 may retrieve a hull image I corresponding to the hull size of the ship to be cleaned by using ship information included in the mapping data, and output the hull image I on the web browser screen.

In addition, a plurality of cell blocks (B) blocked in the hull image (I) can be inserted and displayed by using the unit area information of the hull included in the mapping data.

At this time, the plurality of cell blocks (B) displayed on the hull image (I) implement a plurality of unit areas (S) set on the hull by the control device 110 to correspond to the hull image (I) on the web browser screen. As one, it may be displayed in the same number to correspond to a plurality of unit areas (S) set in the hull, and may be resized according to a preset standard and displayed in a block form so that the user can easily select them individually.

As an example, in the case of a small ship with a small hull, it is easy to select a cell block (B) by clicking or touching a mouse on the screen, but in the case of a large ship, the number of cell blocks (B) increases and the cell block ( As the size of B) is displayed small, at this time, the cell block B may be resized and displayed so that the user can easily select each cell block B individually.

In addition, the management server 120 stores the cleaning image data for each unit area (S) of the hull in the mapping data received in real time from the control device 110 in a database, and each cell block displayed on the hull image (I) The cleaning image data of the unit area corresponding to (B) may be interlocked.

Accordingly, when the user selects the cell block (B) displayed on the hull image (I) on the web browser screen, the cleaning image data of the unit area of the hull corresponding to the cell block (B), that is, the image before cleaning (P1 ), the cleaning image P2 and the cleaning state video P3 may be output on the web browser screen.

In addition, the management server 120 uses the location information of the bottom cleaning robot in the mapping data received in real time from the control device 110, and the cell block being cleaned by the bottom cleaning robot 10 in the hull image I. (B1) may be displayed in a distinguishable manner and, for example, may be displayed in red.

In addition, the cell block B2 passed by the ship bottom cleaning robot 10 may be displayed to distinguish that cleaning has been completed. As an example, the cell block B2 passed by the ship bottom cleaning robot 10 is colored green. can be displayed

Accordingly, the user selects a cell block (B1) being cleaned by the ship bottom cleaning robot 10 and a cell block (B2 having been cleaned) among the plurality of cell blocks (B) displayed on the hull image (I) on the web browser screen. ), and it is also possible to check in which direction the ship bottom cleaning robot 10 moves in the hull to perform cleaning.

In addition, referring to FIG. 5 , the management server 120 may display the cleaning history of the ship through the web browser screen.

As an example, ships on which hull cleaning has been performed may be classified by ID and displayed as a list. When a ship ID (A1) is selected, the cleaning history by date along with the information (A3) on the corresponding ship is classified by ID. can be listed.

At this time, when the cleaning history ID (A2) is selected, the screen shown in FIG. 4 can be displayed so that the detailed cleaning status can be checked, and the user selects the cell block (B) of the hull image (I) to find the corresponding ship. You can check the detailed cleaning status.

Meanwhile, hereinafter, a process of checking the cleaning state of the hull through the web browser screen of the management server 120 using the hull surface management system 100 according to an embodiment of the present invention will be described in detail.

Referring to FIGS. 3 and 4 , when the bottom cleaning robot 10 is attached to a preset reference point of the hull, the controller 110 may receive real-time location information from the bottom cleaning robot 10 .

In addition, the control device 110 may set a plurality of unit areas S in the modeling data of the hull by using the previously input vessel information of the vessel to be cleaned, and the bottom cleaning robot 10 may be set in the unit area S. It is possible to generate mapping data by matching real-time location information of .

In addition, the management server 120 receives mapping data, that is, vessel information of a vessel to be cleaned, real-time location information of the bottom cleaning robot 10, and information on a plurality of unit areas set on the outer surface of the hull, etc. from the control device 110, A hull image (I) corresponding to the ship and a plurality of cell blocks (B) corresponding to a plurality of unit areas (S) are set on the web browser screen, and location can be displayed.

On the other hand, the bottom cleaning robot 10 moves from the reference point on the outer surface of the hull and cleans the outer surface of the hull, simultaneously taking images before and after cleaning, and transmitting real-time location information and captured images to the control device 110, and the control device 110 can match the real-time location of the bottom cleaning robot 10 and the unit area S in the hull corresponding to the real-time location.

In addition, the control device 110 may match and store images before and after cleaning in the unit area S cleaned by the ship bottom cleaning robot 10, which is provided in the control device 110. By performing image processing clearly through the image processing unit 200, cleaning image data including a pre-cleaning image, an after-cleaning image, and a cleaning state video may be matched to a corresponding unit area (S) and stored.

Here, the controller 110 may update real-time location information of the ship bottom cleaning robot 10 and cleaning image data for each unit area S to mapping data in real time.

In addition, the management server 120 stores the cleaning image data for each unit area (S) within the mapping data received in real time from the control device 110 in a database, and stores the cleaning image data for each unit area (S) in the database, Cleaning image data of the corresponding unit area S may be interlocked.

At this time, among the plurality of cell blocks B in the hull image I, the cell block B1 being cleaned by the ship bottom cleaning robot 10 and the cell block B2 being cleaned can be displayed in a distinguishable manner. there is.

Accordingly, the user selects the cell block B1, which is being cleaned by the bottom cleaning robot 10, among the plurality of cell blocks B displayed on the hull image I on the web browser screen of the management server 120, and It is possible to check the cell block (B2) for which has been completed, and it is possible to check in which direction the ship bottom cleaning robot 10 moves in the hull to perform cleaning.

In addition, when the user selects one of the plurality of cell blocks (B) displayed on the hull image (I) on the web browser screen, cleaning image data of the unit area (S) of the hull corresponding to the cell block (B), That is, the image P1 before cleaning, the image P2 after cleaning, and the video P3 of the cleaning state may be displayed on the web browser screen.

Accordingly, the user can check the cleaning image data by selecting the cell blocks B to check the cleaning state.

In this way, the hull surface management system 100 according to the present embodiment divides the area to be cleaned of the hull into a plurality of unit areas S, and the bottom cleaning robot cleans the hull in the plurality of unit areas S. The location information of the bottom cleaning robot 10 and the cleaning image data obtained from the bottom cleaning robot 10 are mapped and provided to the management server 120, thereby providing the location and unit of the bottom cleaning robot 10 through the web browser screen of the management server 120. It is possible to easily check the cleaning status of each area (S).

In addition, a plurality of cell blocks (B) corresponding to the unit area (S) of the hull are displayed through the web browser screen of the management server 120, and according to the selection of the cell block (B), the corresponding cell block (B) and By visually outputting an image before cleaning (P1), an image after cleaning (P2), and a cleaning state video (P3) for the corresponding hull unit area (S), the user can view the hull cleaning status for each unit area (S) in detail. can be checked with

In addition, the management server 120 may store and manage the cleaning history for each ship on which hull cleaning has been performed, and provide the user with information on the cleaning history for each ship listed, thereby providing convenience in ship cleaning management. there is.

Meanwhile, hereinafter, an image analysis and processing process of the image processing unit 200 included in the control device of the present invention will be described.

6 shows the configuration of the image processing unit 200 according to an embodiment of the present invention, and FIG. 7 shows a photographed image collected in one unit area of a hull according to an embodiment of the present invention. 8 shows a process of selecting a representative image from among a plurality of captured images of one unit area of the hull according to an embodiment of the present invention.

6 to 8 , the image processing unit 200 may include an image collection unit 210, an analysis processing unit 220, a control unit 230, and an output unit 240.

The image collecting unit 210 may collect a plurality of captured images of the outer surface of the hull before and after cleaning for each unit area of the hull from the ship bottom cleaning robot 10 .

When the bottom cleaning robot 10 of the present embodiment cleans within a preset unit area while being attached to the hull and moves, it acquires a plurality of images by taking images at regular distances or time intervals, and the acquired images are images. It may be collected by the collection unit 210.

For example, a bottom cleaning robot takes 30 frames of video per second, acquires 60 frames of video at every 1m distance, and acquires 300 frames of video per unit area when one unit area is divided into 5m units. It can be transmitted to the image collector 210.

The analysis processing unit 220 performs image processing to clearly detect the cleaning state of a plurality of captured images for each unit area collected by the image collection unit 210, that is, a plurality of images of the outer surface of the hull after cleaning. can be performed.

Specifically, the analysis processing unit 220 converts the captured image into at least one of an HSV image and a binary image for each of a plurality of captured images for each unit area, and processes the image to detect the cleaning state of the outer surface of the hull in the image. .

In this embodiment, the analysis processing unit 220 may perform HSV image processing and binarization image processing on the captured images of the cleaned outer surface of the hull, respectively.

In the process of converting and processing the captured image of the outer surface of the hull into an HSV image in the analysis processing unit 220, shooting composed of RGB images expressed by 3D color information of R (red), G (green), and B (blue) The image may be converted into an HSV image displayed in the form of hue, saturation, and value.

In addition, the analysis processing unit 220 may extract a color corresponding to the painting color of the outer surface of the hull from the cleaned HSV image of the outer surface of the hull.

As an example, in the case of a general ship, since the outer surface of the hull is painted with red antifouling paint, in this embodiment, the red color can be extracted from the HSV image of the outer surface of the hull through the analysis processing unit 220.

In this case, it may mean that the outer surface of the hull has been cleaned as more paint color, ie, red color, is extracted from the HSV image of the outer surface of the hull.

In addition, in the process of converting and processing the captured image of the outer surface of the hull into a binary image in the analysis processing unit 220, an ROI (Region Of Interest) area is extracted from the captured image made of RGB images, and the ROI area is grayed out so that the outline is detected. After converting to a (Gray) image, a mask image may be generated by binarization.

In this case, the ROI area represents an area of the outer surface of the hull in the captured image, and when only the outer surface of the hull is shown in the captured image, the ROI area may be the entire area of the captured image.

In addition, when a gray image is binarized, according to a predetermined reference value, pixels exceeding the reference value in the gray image are displayed as a binarization value of 1, and pixels below the reference value are displayed as a binarization value of 0 to generate a binarized mask image. can

For example, in the binarized mask image, pixels marked with 1 may represent a clean part of the outer surface of the hull, and when a plurality of pixels marked with 1 form an area, the area is a clean area and is numbered 1 along the circumference of the area. The displayed pixels may become boundary lines of the clean area.

In addition, the analysis processing unit 220 may generate a binarized image by matching the ROI area and the mask image and processing the binarization.

In this case, each pixel of the ROI area is binarized according to a preset reference value, and the binarization value of each pixel of the ROI area and the binarization value of each pixel of the mask image may be overlaid and matched.

In this process, if the pixels of the mutually matching ROI area and the pixels of the mask image have the same binarization value, the corresponding binarization value is maintained, and if the mutually matching pixels of the ROI area and the pixels of the mask image have different binarization values, the predetermined binarization value is maintained. It can be changed to the same binarization value according to the standard.

For example, if a pixel of the ROI region and a pixel of the mask image that match each other have the same binarization value of 1, the overlaid pixel may maintain the binarization value of 1.

At this time, the boundary of the clean region (region of a plurality of pixels indicated by 1) in the ROI region that is mutually overlaid and matched may have a different binarization value, and the boundary of the clean region in the mask image may have a different binarization value. By changing to the same binarization value, it is possible to generate a binarized image in which the boundary line of the overlaid clean area is clearly processed.

In the above-described binarization processing method, the binarization processing method of displaying an image with binarization values of 1 and 0 has been described as an example, but pixels exceeding a preset reference value in the image are displayed as white pixels and pixels below the reference value are displayed as black. Thus, a method of binarization into white and black may be applied.

The control unit 230 digitizes the cleaning state of the outer surface of the hull in the captured image using the HSV image and the binarized image for each captured image, and selects the captured image having the highest value among a plurality of captured images for each unit area can do.

In other words, the control unit 230 can select the best captured image that can clearly check the cleaning state for each unit area of the hull.

Specifically, the controller 230 may calculate the area of the paint color (eg, red) on the outer surface of the hull extracted from the HSV image of the captured image, and may also calculate the area of the clean area in the binarized image of the corresponding captured image.

Also, a clean point obtained by quantifying the cleaning state of the outer surface of the hull in the image may be calculated with respect to the corresponding captured image by assigning a predetermined weight to each of the calculated area value of the paint color and the area value of the clean area in the binarized image.

In this case, the weight given to the area value of the clean area in the binarized image may be set to a relatively higher value than the weight given to the area value of the paint color extracted from the HSV image.

As an example, as shown in FIG. 8 , in this embodiment, a weight of 30 is assigned to the area value of the clean area in the binarized image, and a weight of 0.5 is assigned to the area value of the paint color in the HSV image. .

In addition, in calculating the clean point for the captured image, for example, when the area value of the clean area in the binarized image is 150 and the area value of the painted color in the HSV image is 500, a weight is applied to 150, the area value of the clean area The clean point 4750 can be calculated by adding the value multiplied by 30 and the value obtained by multiplying 500, which is the area value of the paint color, by 0.5.

Accordingly, the control unit 230 may calculate a clean point for each of a plurality of captured images of one unit area of the hull, and select a captured image having the highest clean point among the plurality of captured images as a representative image of the corresponding unit area. can be selected by

In this way, the controller 230 may select the best captured image having the highest clean point for each unit area of the hull as the representative image.

The output unit 240 may collect and output representative images selected for each unit area.

In addition, as an example, the output unit 240 outputs a representative image for each unit area of the hull to the above-described data mapping unit 114 (see FIG. 2), management server 120, or manager as cleaning image data as an image after cleaning. can be provided, including

In this way, the image processing unit 200 of the present embodiment obtains a plurality of captured images for each unit area of the hull from the bottom cleaning robot 10 that divides the hull into a plurality of unit areas and analyzes the acquired captured images. By selecting and providing the best captured images that can clearly check the cleaning status for each unit area, only representative images can be extracted and provided from the vast amount of images captured in the hull cleaning process.

As an example, the ship cleaning management company can provide the cleaning results to customers such as ship owners in the form of a report after cleaning the hull using the bottom cleaning robot 10. In the management server (120, see FIG. 1), the image processing unit ( 200), a cleaning result report can be prepared by selecting representative images for each unit area.

Meanwhile, FIG. 9 sequentially illustrates an image analysis and processing process using the image processing unit 200 according to an embodiment of the present invention.

As an example, in this embodiment, a process of selecting and providing a representative post-cleaning image for each unit area set in the hull using the image processing unit 200 will be described.

Referring to FIG. 9 , a plurality of captured images of the outer surface of the hull before and after cleaning may be collected from the ship bottom cleaning robot 10 through the image collection unit 210 for each unit area of the hull (S110).

Next, using the analysis processing unit 220, image processing may be performed on a plurality of captured images obtained by photographing the state of the outer surface of the hull after cleaning for each unit area of the hull to clearly detect the cleaning state.

In this case, HSV image processing and binarization image processing may be simultaneously performed on each captured image.

First, in the process of processing the HSV image, the captured image of the outer surface of the hull composed of RGB images may be converted into an HSV image (S120).

In addition, a color corresponding to the paint color of the outer surface of the hull may be extracted from the converted HSV image (S130), and the area of the extracted paint color may be calculated through the controller 230 (S140).

As an example, in the case of a general ship, since the outer surface of the hull is painted with red antifouling paint, in this embodiment, the red color can be extracted from the HSV image of the outer surface of the hull and the area of the red color can be calculated.

In this case, as more red color is extracted from the HSV image of the outer surface of the hull, it may mean that the outer surface of the hull has been cleaned.

Meanwhile, in the binarization image processing process, a region of interest (ROI) region may be extracted from a captured image (S150), and an outline in the image may be detected by converting the ROI region into a gray image (S160).

Here, the ROI area represents an area of the outer surface of the hull in the captured image, and when only the outer surface of the hull is shown in the captured image, the ROI area may be the entire area of the captured image.

In addition, a mask image may be generated by binarizing the gray image (S170).

Subsequently, the ROI region and the mask image may be overlaid and matched (S180), and binarized to generate a binarized image (S190).

In addition, the control unit 230 may calculate the area of the clean region in the binarized image (S200).

Next, a preset weight is given to the area value of the paint color in the HSV image calculated as described above and the area value of the clean area in the binarized image, respectively. Can be calculated (S210).

Accordingly, a clean point can be calculated for each of a plurality of captured images of one unit area of the hull, and an image with the highest clean point among the plurality of captured images can be selected as a representative image of the corresponding unit area. (S220).

In addition, in this way, the best photographed image having the highest clean point for each unit area of the hull can be selected as a representative image.

Next, the representative images selected for each unit area may be collected and output through the output unit 240 (S230).

In this way, the image processing unit 200 of the present embodiment acquires a plurality of captured images for each unit area of the hull from the ship bottom cleaning robot 10, and analyzes the acquired captured images to clarify the cleaning status for each unit area. By selecting and providing the best captured images that can be checked, representative images for each unit area can be extracted and provided from among the vast amount of images taken during the hull cleaning process, and cleaning images and photos can be provided for each hull location, and cleaning of the hull status can be clearly identified.

Embodiments of the present invention disclosed in this specification and drawings are only presented as specific examples to easily explain the technical content of the present invention and help understanding of the present invention, and are not intended to limit the scope of the present invention.

Therefore, the scope of the present invention should be construed as including all changes or modifications derived based on the technical idea of the present invention in addition to the embodiments disclosed herein.

Claims

In the hull surface management system for providing information on the hull cleaning state by acquiring a photographed image of the outer surface of the hull from a bottom cleaning robot that cleans the hull,

The area to be cleaned of the hull is divided into a plurality of unit areas using previously input vessel information, and the location information of the bottom cleaning robot and the cleaning image data obtained by processing the captured image are mapped to the plurality of unit areas. a controller that generates mapping data; and

A hull surface management system comprising a management server that outputs the position of the bottom cleaning robot cleaning the hull and the cleaning status of each unit area of the hull by using the generated mapping data.
According to claim 1,

The mapping data,

Includes at least one of ship information, location information of a bottom cleaning robot, information on a plurality of unit areas set in the hull, and cleaning image data for each unit area of the hull;

The management server,

A hull image corresponding to the hull scale of the ship to be cleaned is generated using the ship information, and a plurality of cell blocks corresponding to a plurality of unit regions set in the hull are displayed in a selectable form on the hull image. A hull surface management system for displaying the position of the bottom cleaning robot on a plurality of cell blocks and linking the cleaning image data of each corresponding unit area.
According to claim 2,

The management server,

Among the plurality of cell blocks displayed in the hull image, cleaning image data of a unit area corresponding to a selected cell block is output to the screen, and an image before cleaning, an image after cleaning, and a cleaning state video of the unit area are output to the screen Hull surface management system.
According to claim 2,

The management server,

A hull surface management system for resizing and displaying the plurality of cell blocks displayed in the hull image so as to facilitate individual selection.
According to claim 2,

The management server,

Among the plurality of cell blocks displayed on the hull image, a cell block being cleaned by the ship bottom cleaning robot and a cell block cleaned by the ship bottom cleaning robot are distinguishably displayed.
According to claim 1,

The management server,

A hull surface management system that is made up of a cloud server and manages the cleaning history and related data of ships where hull cleaning has been performed by classifying them by ID.
According to claim 1,

The control device,

The hull surface management system for obtaining a preset reference point where the bottom cleaning robot is initially attached to the hull and a position moved from the reference point in real time, and mapping positional information of the bottom cleaning robot to the plurality of unit areas.
According to claim 1,

The control device,

a control unit for controlling an operation of the ship bottom cleaning robot;

a unit area setting unit configured to divide and set a cleaning target area of the hull into a plurality of unit areas using the vessel information;

a communication unit for receiving location information and a photographed image from the bottom cleaning robot;

a data mapping unit matching and storing the location information of the ship bottom cleaning robot and the photographed image for the plurality of unit areas; and

An image processing unit for generating cleaning image data for each unit area by analyzing and processing a plurality of captured images stored for each unit area of the hull;

Wherein the data mapping unit generates mapping data by mapping the ship information, location information of the bottom cleaning robot, information on a plurality of unit areas set in the hull, and cleaning image data for each unit area.