KR101549513B1 - System and Method for Preventing Collision of Vessel and Recording using Augmented Reality - Google Patents

Abstract

The present invention relates to a system and a method for preventing the collision of vessel and recording ship accident by using augmented reality. Especially, a method of displaying an electronic chart of a ship navigation system using augmented reality provides navigation information with high reality, by overlapping navigation information selectively extracted from the electronic chart and an image of the surrounding of a vessel by using an augmented reality technique. The present invention prevents collision accidents by automatically changing the velocity and steering angle before the collision, minimizes sinking by vessel collision by changing the posture of the vessels to collide with the lateral parts of vessels when it is impossible to prevent the collision of the vessels. Also, the present invention stores collision conditions in a memory to clearly determine which ship provides the cause of the collision with augmented reality when the vessels collide with each other.

Description

TECHNICAL FIELD The present invention relates to a ship accident record system and method using augmented reality,

The present invention relates to a ship accident record system and method for preventing collision with a ship using an augmented reality. More particularly, the present invention relates to a vessel accident record system and method using augmented reality, The present invention provides a method of displaying an electronic chart of a ship navigation system using an augmented reality capable of providing navigation information and automatically changing the steering angle and speed before occurrence of a ship collision to prevent a collision, It is also possible to minimize the sinking due to collision of the ship by modifying the posture of the ship so that the sides of the ship are inevitably caught between the sides of the ship. In addition, when the ship collides, the collision situation is stored in the memory together with the augmented reality, The collision avoidance method using the augmented reality The present invention relates to a ship accident record system and method.

Most of ship accidents are mostly collision such as collision between ships or collision between ship and terrain obstacle. Recently, ship size has been increased and ship types have been diversified. Damages and secondary pollution such as marine pollution.

Since the ship collision occurs mainly in the vicinity of the port where the ship is frequently in and out of the coastal area, conventionally, AIS (Automatic Identification System) data or Electronic Chart Display and Information System (ECDIS) The data is provided on the screen of a device used by a VTS controller, pilot or ship operator.

However, since the provided data is merely information such as the position of the ship's course, speed, distance, and terrain obstacles, the VTS controller, the pilot or the ship operator must check and control the situation directly , And limitations due to human factors (for example, individual differences in control ability according to proficiency).

Conventionally, in order to overcome the limitations due to such human factors, an algorithm for calculating the subjective judgment value of the ship from the data is used (refer to Korean Patent Laid-Open Publication No. 10-2005-0114771) , And the risk of subjective collision is calculated as the risk of collision against a ship and a ship. When multiple ships meet a plurality of ships, multiple ships pass through a terrain obstacle, There is a problem that it is practically difficult to apply in the vicinity of the harbor and coastal waters.

As a result, there are many ships and terrain obstacles in the VTS control area so that it is not easy for the controller, the pilot or the ship operator to find out which ship is exposed to danger while viewing the screen.

SUMMARY OF THE INVENTION The present invention has been made in view of the technical background as described above, and it is an object of the present invention to provide an augmented reality system capable of providing realistic navigation information by superimposing navigation information selectively extracted from an electronic chart on an image around a ship, And to prevent collision by automatically changing the steering angle and speed before the occurrence of a collision with the ship. If it is determined that collision is inevitable, The aim is to modify the posture to minimize the sinking due to ship collision.

The object of the present invention is to store a collision situation in a memory together with an augmented reality at the time of a collision of a ship so as to clearly distinguish which vessel is wrong.

As means for achieving the above object,

The present invention includes a position sensing module 110 for recognizing a current position of a ship to which a ship navigation system 10 using an augmented reality is applied by applying trigonometry to time and distance signals received from a plurality of GPS satellites; An AIS module 120 which is also referred to as an automatic ship identification device and which provides the navigation information of one ship to other marine vessels in order to prevent collision between marine vessels at sea and also receives its navigation information from surrounding ships in real time; A camera module 130 for photographing a peripheral image of a ship at a front side, a side, and a rear side of a ship and outputting an actual image in a direction according to a user's selection; An electronic chart providing module (140) for storing an electronic chart for an augmented reality system of a data structure capable of processing an augmented reality including navigation information, which is vast information related to navigation of a ship; It is composed of a fog sensor installed on the outside of the ship, a laser sensor, and an ultrasonic sensor to output fog situation and external ship detection information. If the fog is thicker than the standard, it is difficult to grasp the external ship with the camera. A sensor module (150) for operating the ultrasonic sensor to guide the external ship to be grasped; A central processing module (160) for processing the augmented reality information of navigation information from an electronic chart for an augmented reality system and navigation information of another vessel on an actual image, and outputting an augmented reality processed image as a result; And a display module 170 composed of a TFT LCD and displaying an augmented reality processed image provided from the central processing module 150; The central processing module 160 includes a data receiving unit 161, a collision risk value calculating unit 162, and a steering device control unit 163; The collision risk value calculator 162 receives data from the fog sensor, the laser sensor, and the ultrasonic sensor, and grasps the external situation from the data of the fog sensor, the laser sensor, and the ultrasonic sensor. In the fog situation, Calculate the steering angle of the ship and the speed of the ship to be moved according to the distance from the obstacle measured by the laser sensor; The steering device controller 163 is configured to compare the results of the laser sensor and the ultrasonic sensor to drive the steering device and the starting screw when the collision risk is higher than the reference.

In addition, the data received by the data receiving unit is at least one of Automatic Identification System (AIS) data and Electronic Chart Display and Information System (ECDIS) data.

Also, the AIS data includes the length of the ship, the weight of the ship, the speed of the ship, and the distance data between the ships, and the ECDIS data includes the area of the terrain obstacle and the distance data with the terrain obstacle.

A data receiving step of receiving data on a plurality of other ships and the terrain obstacles located within a range of the stern of the reference vessel; Processing the augmented reality information of navigation information from an electronic chart for an augmented reality system and navigation information of another vessel on an actual image and outputting an augmented reality processed image as a result; A ship external sensing step of outputting a fog situation and external ship detection information, which are composed of a fog sensor, a laser sensor and an ultrasonic sensor; In case of fog situation, the laser sensor is activated to instruct the ship to move in consideration of the distance to other ship. Especially when another ship is detected by ultrasonic sensor, collision can not be avoided. Urgently rotating the ship so that the sides of the ship do not collide with each other; And the step of memorizing the output data of the augmented reality image and the sensor and the moment of crash of the ship.

In addition, the data is at least one of AIS data and ECDIS data.

Also, the AIS data includes the length of the ship, the weight of the ship, the speed of the ship, and the distance data between the ships, and the ECDIS data includes the area of the terrain obstacle and the distance data with the terrain obstacle.

As described above, according to the present invention, navigation information selectively extracted from an electronic chart is superimposed and displayed on an image around a ship using an augmented reality technology, thereby realizing an electronic In the event that a collision is inevitable, it is necessary to change the posture of the ship so that the sides of the ship are inevitably caught between the sides of the ship, Thereby minimizing the sinking caused by the impact.

In addition, when the ship collides, the collision situation is stored in the memory together with the augmented reality, thereby inducing a clear distinction as to which ship has failed.

1 is a conceptual view of a collision situation of a ship;
2 is a conceptual diagram of an augmented reality image of the present invention.
3 is a diagram showing various data input and monitor output of the present invention.
Fig. 4 is an exemplary view showing a CCTV installation; Fig.
5 is a configuration block diagram of the present invention;
6 is a flowchart of the present invention.

The operation principle of the preferred embodiment of the present invention will be described in detail with reference to the accompanying drawings and description. It should be understood, however, that the drawings and the following detailed description are exemplary and explanatory and are intended to provide further explanation of the invention, and are not to be construed as limiting the present invention.

In the following description of the present invention, a detailed description of known functions and configurations incorporated herein will be omitted when it may make the subject matter of the present invention rather unclear. The terms used below are defined in consideration of the functions of the present invention, which may vary depending on the user, intention or custom of the operator. Therefore, the definition should be based on the contents throughout the present invention.

It is to be understood that both the foregoing general description and the following detailed description of the present invention are exemplary and explanatory and are intended to provide further explanation of the invention as claimed. The configuration is omitted as much as possible, and a functional configuration that should be additionally provided for the present invention is mainly described.

Those skilled in the art will readily understand the functions of the components that have been used in the prior art among the functional configurations that are not shown in the following description, The relationship between the elements and the components added for the present invention will also be clearly understood.

In order to efficiently explain the essential technical features of the present invention, the following embodiments properly modify the terms so that those skilled in the art can clearly understand the present invention, It is by no means limited.

As a result, the technical idea of the present invention is determined by the claims, and the following embodiments are merely illustrative of the technical idea of the present invention in order to efficiently explain the technical idea of the present invention to a person having ordinary skill in the art to which the present invention belongs. .

1 is a conceptual view of a collision situation of a ship;

2 is a conceptual diagram of an augmented reality image of the present invention.

3 is a diagram showing various data input and monitor output of the present invention.

Fig. 4 is an exemplary view showing a CCTV installation; Fig.

5 is a configuration block diagram of the present invention;

FIG. 6 is a flow chart of the present invention. The ship navigation system 10 using the augmented reality according to the embodiment of the present invention includes a position sensing module 110, an AIS (Automatic Identification System) module 120, a camera module 130 An electronic chart providing module 140, a sensor module 150, a central processing module 160, and a display module 170.

The position sensing module 110 grasps the current position of a ship to which the ship navigation system 10 using the augmented reality is attached by applying trigonometry to the time and distance signals received from a plurality of GPS satellites.

Also, the position sensing module 110 grasps the orientation information of one ship using a gyro compass. For reference, the gyro compass is a gyroscope that rotates at high speed so that the axis of rotation always points to the north of the earth. Unlike a compass, it always points to the true north, Respectively.

The AIS module 120 is also referred to as an automatic ship identification device. The AIS module 120 provides the navigation information of one ship to other marine vessels in order to prevent collision between marine vessels at sea, and receives the navigation information of the surrounding vessels in real time.

Here, the flight information may be speed, stroke, and location.

The camera module 130 photographs a peripheral image of one ship at a front, a side, a rear, and the like of one ship and outputs an actual image in a direction according to a user's selection. At this time, the camera module 130 may be a CMOS (Complementary Metal Oxide Semiconductor), a CCD (Charge Coupled Device) camera, or the like. 5, the camera module 130 includes a front camera, a side camera, and a rear camera. However, the camera module 130 may include one or more of front, side, and rear Direction, and it is possible to selectively photograph an image of a desired direction while rotating.

The electronic chart providing module 140 stores an electronic chart for an augmented reality system of a data structure capable of processing an augmented reality including navigation information which is vast information related to navigation of a ship.

In addition, the Electronic Navigational Chart (ENC) is an electronic navigational chart that displays the chart information related to the voyage of the ship, such as shoreline, isthmus, water depth, beacon mark (lighthouse, light buoy) Refers to a digital chart produced digitally in accordance with the standard (S-57) of the IHO. However, since the electronic chart constructed in accordance with S-57 is not suitable as a data structure displayed on a computer or other additional embedded device, IHO recommends converting it into a data structure suitable for the device . Therefore, the electronic chart providing module 140 of the ship navigation system 10 using the augmented reality according to the embodiment of the present invention can provide an electronic chart (SENC: System ENC) for an augmented reality system optimized for an augmented reality system by an electronic chart use.

The sensor module 150 is composed of a fog sensor, a laser sensor, and an ultrasonic sensor, and outputs a fog situation and external vessel detection information. Especially, when the fog is thicker than the reference level, And an ultrasonic sensor are operated to guide the external vessel.

The central processing module 160 processes the augmented reality information of the navigation information from the electronic chart for the augmented reality system and the navigation information of the other vessel on the actual image, and outputs the augmented reality processed image as a result.

The display module 170 is composed of, for example, a TFT LCD, and displays the augmented reality processed image provided from the central processing module 150. [

The central processing module 160 includes a data receiving unit 161, a collision risk value calculating unit 162, and a steering device control unit 163.

The data receiving unit 151 is at least one of an AIS (Automatic Identification System) data or an ECDIS (Electronic Chart Display and Information System) data. The AIS data mainly includes data on the length of the ship, the weight of the ship, the speed of the ship or the distance between ships, and the ECDIS data includes data on terrain obstacles, ie, the area of the terrain and the distance data from the terrain obstacle . Here, the AIS data is data of the reference vessel and the plurality of other vessels. By using such various information, the degree of risk of collision of the ship can be accurately determined and displayed.

The collision risk value calculator 162 receives data from the fog sensor, the laser sensor, and the ultrasonic sensor, and grasps the external situation from the data of the fog sensor, the laser sensor, and the ultrasonic sensor. In the fog situation, And calculates the steering angle of the ship and the speed of the ship to be moved according to the distance from the obstacle measured by the laser sensor.

In other words, the collision of a ship can occur frequently in a poor clock state such as a fog situation. At this time, the laser sensor is operated to instruct the ship to move in consideration of the distance to another ship. In particular, The collision can not be avoided so that the ship is urgently rotated so that the front side of the other ship does not collide with the side face of the main ship and the side face of the other ship collides with the side face of the main ship, Thereby minimizing the stranding caused by the collision between them.

In other words, when the fog is thicker than the standard by the fog sensor, the laser sensor and the ultrasonic sensor attached to the surface of the ship are operated to prevent collision. In this case, the laser sensor classifies the ships within 100m, Is considered to be collided when the other ship is detected by the laser sensor and when the other ship is detected by the ultrasonic sensor, it is considered that the collision occurs in the direction opposite to the direction of the other ship It is to turn the ship in an emergency.

The steering device control unit compares the result values of the laser sensor and the ultrasonic sensor, and controls the steering device and the starting screw to prevent collision with other ships if the collision risk is higher than the reference value.

On the other hand, the ship navigation system 10 using the augmented reality superimposes and displays marine information extracted from the actual image, that is, the actual image from the camera module 130, according to the user's selection. Here, the ocean information includes route information, feature information, dangerous area information, reef information, and depth information, and the system 10 according to the embodiment of the present invention extracts and displays such ocean information according to a user's selection .

Referring to FIG. 6, the ship navigation system 10 using the augmented reality opens a file of an electronic chart SENC for a previously stored augmented reality system (S10). Here, the electronic chart for an augmented reality system may be an electronic chart composed of a data structure capable of processing an augmented reality.

Then, the ship navigation system 10 using the augmented reality loads the electronic chart for the augmented reality system into the memory (S20).

Next, the ship navigation system 10 using the augmented reality obtains the current position of one ship using the GPS information and the orientation information of the gyro compass (S30).

In addition, the ship navigation system 10 using the augmented reality can identify the items to be displayed and processed by the augmented reality according to the user's selection, extract the ocean information of items to be displayed from the electronic chart for the augmented reality system, (S40). Here, the marine information may be route information, feature information, dangerous area information, reef information, depth information, etc., and the flight information may be the speed,

The ship navigation system 10 using the augmented reality converts the extracted marine information and flight information into a predetermined marine information image and a flight information image, respectively (S50). In detail, for the convenience of the user, the ship navigation system 10 using the augmented reality images the marine information and the flight information expressed in numerical values as a marine information image and a flight information image of predetermined shapes, (I.e., a position coordinate at which the image of the marine information is to be displayed) to the information image.

The vessel navigation system 10 using the augmented reality maps the position coordinates of the marine information image and the flight information image and the latitude and longitude of the current position so that the marine information image and the flight information image can be displayed at the positions corresponding to the actual images. (S60).

The ship navigation system 10 using the augmented reality performs the augmented reality processing so as to position the marine information image and the flight information image corresponding to the actual image, and outputs the augmented reality processed image (S70). Herein, the ship navigation system 10 using the augmented reality can display perspective information by changing the size of the flight information image according to the distance in displaying the navigation information of the nearby ship.

Before displaying the augmented reality processed image, the ship navigation system 10 using the augmented reality checks whether a ship has moved to a predetermined distance or more (S80). Here, the preset distance may be a distance for determining whether or not a ship is provided with AIS information from a nearby ship, that is, a critical distance for determining a nearby ship.

The marine navigation system 10 using the augmented reality displays an augmented reality processed image if the moving distance of the vessel is within a predetermined distance (S90).

The ship navigation system 10 using the augmented reality repeats steps S30 to S90 until arriving at a destination or inputting a guidance end command.

On the other hand, if the ship navigation system 10 using the augmented reality moves beyond a preset distance, the current position of the ship is re-recognized through the step S30.

On the other hand, if the fog is higher than the standard (S100), the laser sensor and the ultrasonic sensor are operated (S110) to determine the position of another ship, and an image is displayed on the monitor through the augmented reality processing technique.

In other words, when the fog is heavy, the other ship is not caught by the camera. Therefore, the other ship is displayed using the laser sensor and the ultrasonic sensor. When the other ship rushes below the reference distance, So that the collision can be performed while minimizing the damage site (S120).

In addition, the collision situation is memorized together with the augmented reality so that the cause of the accident can be fully recovered (S130).

As described above, the present invention can realistically provide marine information about a dangerous element or a surrounding situation in a marine environment that is difficult to predict through the augmented reality, and can increase the awareness of marine information.

In addition, the present invention can reduce the accident of the ship by inducing the safety operation of the operator through providing realistic marine information, and can further reduce the loss of life and property damage due to the accident of the ship.

Further, the present invention provides a comprehensive maritime safety guidance service that can provide the operator with visually identifiable conditions on the sea and factors that can affect the navigation below the sea, You can contribute.

10: Ship navigation system 110: Position sensing module
120: Automatic Identification System (AIS) module
130: camera module 140: electronic chart providing module
150: sensor module 160: central processing module
170: Display module

Claims (6)

A position sensing module 110 for recognizing a current position of a ship to which a ship navigation system 10 using an augmented reality is applied by applying trigonometry to time and distance signals received from a plurality of GPS satellites;
An AIS module 120 which is also referred to as an automatic ship identification device and which provides the navigation information of one ship to other marine vessels in order to prevent collision between marine vessels at sea and also receives its navigation information from surrounding ships in real time;
A camera module 130 for photographing a peripheral image of a ship at the front, side, and rear of a ship and outputting an actual image in a direction of user selection;
An electronic chart providing module (140) for storing an electronic chart for an augmented reality system of a data structure capable of processing an augmented reality including navigation information which is information related to navigation of a ship;
It is composed of a fog sensor installed on the outside of the ship, a laser sensor, and an ultrasonic sensor to output fog situation and external ship detection information. If the fog is thicker than the standard, it is difficult to grasp the external ship with the camera. A sensor module (150) for operating the ultrasonic sensor to guide the external ship to be grasped;
A central processing module (160) for processing the augmented reality information of navigation information from an electronic chart for an augmented reality system and navigation information of another vessel on an actual image, and outputting an augmented reality processed image as a result;
And a display module 170 composed of a TFT LCD and displaying an augmented reality processed image provided from the central processing module 150;
The central processing module 160 includes a data receiving unit 161, a collision risk value calculating unit 162, and a steering device control unit 163;
The collision risk value calculator 162 receives data from the fog sensor, the laser sensor, and the ultrasonic sensor, and grasps the external situation from the data of the fog sensor, the laser sensor, and the ultrasonic sensor. In the fog situation, Calculate the steering angle of the ship and the speed of the ship to be moved according to the distance from the obstacle measured by the laser sensor;
The steering device controller 163 is configured to compare the results of the laser sensor and the ultrasonic sensor and to operate the steering device and the starting screw when the risk of collision is higher than the reference value. Recording system.
The method according to claim 1,
Wherein the data received by the data receiving unit is at least one of AIS (Automatic Identification System) data and ECDIS (Electronic Chart Display and Information System) data. 3. The method of claim 2,
Wherein the AIS data includes the length of the ship, the weight of the ship, the speed of the ship, and the distance data between the ships, and the ECDIS data includes the area of the terrain obstacle and the distance data with the terrain obstacle. Ship Accident Recording System for Ship Collision Prevention.
A data receiving step of receiving data on a plurality of other ships and the terrain obstacles located within a range of the reference vessel;
Processing the augmented reality information of navigation information from an electronic chart for an augmented reality system and navigation information of another vessel on an actual image and outputting an augmented reality processed image as a result;
A ship external sensing step of outputting a fog situation and external ship detection information, which are composed of a fog sensor, a laser sensor and an ultrasonic sensor;
In case of fog situation, it operates the laser sensor to instruct the ship to move considering the distance from other ship. If another ship is detected by the ultrasonic sensor, collision can not be avoided. Urgently rotating the ship so that the sides do not collide;
And a step of memorizing the output data of the augmented reality image and the sensor, and the moment of collision of the ship, and a method for recording the accident accident of a ship using the augmented reality.
5. The method of claim 4,
Wherein the data is at least one of AIS data and ECDIS data.
6. The method of claim 5,
Wherein the AIS data includes the length of the ship, the weight of the ship, the speed of the ship, and the distance data between the ships, and the ECDIS data includes the area of the terrain obstacle and the distance data with the terrain obstacle. Vessel accident recording method combined with ship collision prevention.

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