KR101693981B1 - Apparatus and method for vessel collision avoidance - Google Patents

Abstract

The present invention relates to a method and apparatus for collision avoidance of a ship. Specifically, the present invention recognizes at least one collision hazardous object which is a maritime structure likely to collide with a ship, calculates a collision risk rate of the ship with respect to the collision hazardous material, and if the calculated collision risk exceeds a preset threshold value And a avoidance path for avoiding collision dangerous goods is generated based on the charity information of the ship.

Description

[0001] APPARATUS AND METHOD FOR VESSEL COLLISION AVOIDANCE [0002]

The present invention relates to a method and apparatus for collision avoidance of a ship. More particularly, the present invention relates to a method and apparatus for avoiding collision with an offshore structure based on information of a charity being operated.

In recent years, along with the rapid development of electronic technology and computer technology, RSC (Radar Scan Converter), a device that converts radar signals to computer data, which was previously treated only as military technology, has come into the market at low cost. (AIS), Automatic Identification System (AIS), which automatically exchanges flight information in real time, and electronic charts (ENC, Electronic Navigational Chart) lost. In addition, thanks to the GPS (Global Positioning System) developed by the United States and widely used around the world, it is possible to easily grasp the position of the charity in real time, and the data communication using the satellite can be performed in a low cost environment .

Despite the development of ship technology, marine accidents are increasing year by year. Currently, about 80% of the accidents happening in Korea are caused by human error, and 70% of all accidents are collision and stranding except for fishing boats. Especially, accidents caused by operational errors are mostly caused by the late recognition of the operator's situation and the delay of coping, such as non-compliance of the navigation such as collision prevention rules, lack of front boundary, and improper shipbuilding technology. Specifically, one of the most frequent accident types among marine accidents was ship collision, which was the most frequent occurrence of ship - related accidents less than 100 tons, and collision between beer line and fishing line and fishing line was the most frequent.

In order to prevent a collision between other vessels, the other vessel is recognized, and a mutual confirmation step is performed with the opponent vessel by using a VHF or the like to continuously observe the dynamics of the opponent ship, , The appropriate avoidance action should be carried out and the opponent line should take appropriate action. Also, in case of collision with obstacles such as icebergs and reefs in addition to collision between ships, it is necessary to recognize the position of the obstacle and perform a proper avoiding operation to avoid the obstacle.

Therefore, conventionally, in order to prevent collision with an offshore structure of a ship, various alarm systems such as an alarm system for warning a collision or an electronic chart display & information system (ECDIS) Research is underway.

On the other hand, the recognition of the risk situation in the sea until now depends entirely on the operator. Of course, shipborne radar has the ability to track the opponent's ship and alert it when it comes within a certain distance, but it also only works if the operator has pointed out the correct ship on the radar screen Finally, it can be said that it depends only on the recognition of the situation of the operator. Accordingly, there has been a problem in that a malfunction occurs due to a decrease in concentration on the operator's perception of the situation.

In addition, the conventional method of preventing collision or collision prevention of a ship focuses only on a technique of recognizing the position of an obstacle or a relative ship or a technique of calculating an avoidance path using the technique, and a avoidance method considering the information of a charity to perform the avoidance action . There is a risk that the ship may be unbalanced and overturned when the unexpected avoidance operation is performed without considering the standard or speed of the charity to perform the collision avoidance operation. Therefore, the collision avoidance method and system . ≪ / RTI >

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems, and it is an object of the present invention to provide a method and apparatus for avoiding a collision of a ship that provides an avoidance path created based on charity information.

In order to accomplish the above object, the present invention provides a method of avoiding collision of a ship, comprising: recognizing at least one collision dangerous object which is a marine structure that may collide with a ship, calculating a collision risk rate Generating a avoidance path for avoiding the collision dangerous matter based on the charity information of the ship when the calculated risk of collision exceeds a predetermined threshold value and displaying the generated avoidance path do.

Further, the charity information includes at least one of the length, width, speed-resistance curve, propeller diameter, thrust reduction factor, counter current ratio, forward non-thrust coefficient curve, other shape information, .

And displaying the calculated collision risk in a descending order when the plurality of collision hazardous materials are present.

Further, the step of recognizing at least one collision hazardous object, which is a maritime structure likely to collide with the ship, comprises the steps of: acquiring vessel information, an automatic identification system (AIS) or the like obtained from sensors or measuring instruments included in the vessel The present invention is characterized by recognizing the presence of a collision hazardous object based on position information of a marine structure obtained from a radar automatic radar plotting aids (ARPA) and maritime related information contained in an electronic navigation chart (ENC).

In addition, the step of creating the avoidance path for avoiding the collision dangerous matter based on the charity information of the ship may be performed such that it does not exceed a predetermined cross track distance (XTD) in the path of the ship .

The present invention also provides a collision avoidance apparatus for a ship, comprising: a collision dangerous object recognition unit for recognizing at least one collision dangerous object that is a maritime structure likely to collide with a ship; a collision risk calculation unit for calculating a collision risk rate for the collision dangerous material of the ship, A control unit for generating a avoidance path for avoiding the collision hazardous object based on the charity information of the ship when the risk of collision exceeds a predetermined threshold value, and a display unit for displaying the generated avoidance path.

The charity information may include at least any one of a length, a width, a speed-resistance curve, a propeller diameter, a thrust reduction factor, a counter current ratio, a forward non-thrust coefficient curve, .

In addition, the display unit may display a plurality of the dangerous goods in a descending order of the calculated risk of collision.

Also, the control unit may acquire position information of a marine structure obtained from ship information acquired from a sensor included in the ship or measurement equipment, an automatic identification system (AIS) or radar automatic radar plotting aids (ARPA) And recognizes the presence of a collision hazardous object based on marine related information contained in an electronic navigation chart (ENC).

In addition, the control unit may generate the avoidance path such that the cross track distance (XTD) does not exceed a predetermined distance in the path of the ship.

According to various embodiments of the present invention, it is possible to provide a collision avoiding method that reflects the maneuverability of a ship by creating an avoidance path for preventing collision of the ship on the basis of the charity information.

Further, according to various embodiments of the present invention, it is possible to prevent an accident caused by abrupt start of the ship.

1 is a block diagram showing a configuration of a ship collision avoiding apparatus according to an embodiment of the present invention.
2 is a block diagram showing a configuration of a collision risk recognition unit of a marine collision avoiding apparatus according to the present invention.
3 is a block diagram showing a configuration of a control section of the ship collision avoiding apparatus according to the present invention.
4 is a block diagram showing the configuration of an external interface of the ship collision avoiding apparatus according to the present invention.
5 is a flowchart illustrating a method of avoiding a collision of a ship according to an embodiment of the present invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

In the following description of the embodiments of the present invention, descriptions of techniques which are well known in the technical field of the present invention and are not directly related to the present invention will be omitted. This is for the sake of clarity of the present invention without omitting the unnecessary explanation.

BRIEF DESCRIPTION OF THE DRAWINGS The advantages and features of the present invention and the manner of achieving them will become apparent with reference to the embodiments described in detail below with reference to the accompanying drawings. The present invention may, however, be embodied in many different forms and should not be construed as being limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the invention to those skilled in the art. It is provided to fully inform the owner of the scope of the invention.

As used herein, the term " offshore structure " includes structures located on the sea, such as ships, reefs, or icebergs other than charity.

In the present specification, the term 'charity' may be a vessel equipped with a vessel collision avoiding apparatus according to the present invention or performing a vessel collision avoiding method, and the term 'vessel' may be used in combination and has a concept opposite to that of the opponent vessel.

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

1, the ship collision avoiding apparatus 10 of the present invention includes a collision risk recognizing unit 100, a control unit 200, a display unit 300, a charity information storage unit 400, and an external interface 500 can do.

The collision risk recognition unit 100 can recognize all the marine structures (hereinafter, referred to as collision dangerous goods) that may possibly collide with the ship based on the information acquired from various equipments mounted on the ship. More specifically, the collision risk recognition unit 100 can determine the position of the marine structure and measure the state of the ship, thereby recognizing the collision dangerous material that may collide with the ship. The collision risk recognition unit 100 transmits information on the recognized collision dangerous object to the control unit 200. The collision risk recognition unit 100 will be described in more detail with reference to FIG.

The control unit 200 can control the overall operation of the ship collision avoiding apparatus 10 of the present invention. The control unit 200 can calculate the collision risk by receiving information on the collision dangerous object when the collision dangerous object is recognized from the collision dangerous object recognition unit 100. [ The control unit 200 transmits the calculated collision risk to the display unit 300. If there are a plurality of collision dangerous objects, the control unit 200 can display the collision risk in a descending order of the risk of collision. The control unit 200 can determine the avoidance priority when there are a plurality of colliding dangerous goods. The control unit 200 may transmit the avoidance priority order to the display unit 300 for the determined plurality of collision hazardous materials. When the calculated collision risk rate exceeds a predetermined threshold value, the control unit 200 can generate an avoidance path that is a route for avoiding collision dangerous goods. At this time, the control unit 200 may generate a avoidance path based on the charity information stored in the charity information storage unit 400 in advance. The detailed operation of the control unit 200 will be described later in detail with reference to FIG.

The display unit 300 may display various kinds of information (e.g., multimedia data, text data, etc.) to the ship operator. The display unit 300 may include a panel, a touch panel, a hologram device, or a projector. The panel may be a liquid-crystal display (LCD) or an active-matrix organic light-emitting diode (AM-OLED). The panel may be embodied as being flexible, transparent or wearable. The panel may comprise a touch panel and one module. The hologram device can display stereoscopic images in the air using the interference of light. The projector can display images by projecting light onto the screen. The screen may be located inside or outside the vessel collision avoidance apparatus 10. [ According to various embodiments, the display unit 300 may further include a control circuit for controlling the panel, the touch panel, the hologram device, or the projector. The display unit 300 may provide various user interfaces (UI) for collision avoidance to the ship's operator

The display unit 300 may display the collision risk rate transmitted from the control unit 200. [ Also, the display unit 300 can display the collision risk in a descending order when there are a plurality of collision hazardous materials. The display unit 300 may display avoidance priority orders for a plurality of collision hazardous materials inputted from the control unit 200. [ The display unit 300 may display the avoidance path generated by the control unit 200. [ At this time, assuming that the dangerous goods are in their current state or perform normal avoidance operations according to the regulations, the risk rate and avoidance priority for the dangerous goods of the restoration can be displayed up to a certain point in time.

The charity information storage unit 400 may store charity information, which is various information indicating the maneuvering performance of the ship.

The charity information is the minimum information that is used to estimate the maneuvering performance of the ship. The charity information is information about the ship length, width, speed-resistance curve, propeller diameter, thrust reduction factor, rebound ratio, Or a hydraulic force coefficient. In addition, the oil strength coefficient can reflect information such as draft, squareness coefficient, displacement, and stern shape coefficient.

The external interface 500 can be configured such that the collision avoidance apparatus 10 of the present invention recognizes a collision dangerous object in the collision risk recognition unit 100 or generates a collision avoidance path for the collision dangerous object in the control unit 200 External devices can be controlled. The external interface 500 may be implemented as a separate apparatus from the ship collision avoiding apparatus 10 of the present invention. The specific external interface 500 will be described in more detail with reference to FIG.

2 is a block diagram showing a configuration of a collision risk recognition unit of a marine collision avoiding apparatus according to the present invention.

Referring to FIG. 2, the collision risk recognition unit 100 of the present invention can recognize a dangerous object of a collision of a ship through various equipment included in the ship. Specifically, the collision risk recognition unit 100 may include a ship automatic identification unit 110, a radar ARPA 120, electronic chart information 130, and a charity state measurement unit 140.

The ship automatic identification unit 110 can recognize the position of a ship having an automatic identification system (AIS). Automatic Identification System (AIS) is a state-of-the-art device that provides real-time navigation information such as position, speed, and speed of a ship. It is a device to prevent a ship from colliding at sea. The installation of the automatic identification system (AIS) is an obligation imposed by the international maritime organization (IMO). If the ship's automatic identification system (AIS) It is possible to judge the presence of Edo line and its progress status, and to identify sharper, steep or speed even when the clock is not good, and to perform safety management more effectively such as ship collision prevention, wide area control, search and rescue of distressed vessels .

The radar automatic radar plotting aids (ARPA) 120 is a device that integrates the functions of various advanced electronic devices into the conventional radar function and integrates the information of the timetable with the CPU function of the built-in CPU to provide the navigation service. Particularly, the radar ARPA 120 allows to know the position and movement of ships, glaciers or reefs that do not have an automatic identification device (AIS) 110. The radar ARPA 120, in particular, displays the automatic plotting information for all the targets on the screen in numerical and graphical form, so that the correct movement of the opponent's vessels can be grasped immediately.

The electronic chart information 130 may include maritime related information related to the navigation of the ship. Here, the marine related information may include at least one of a maritime map, location information, a ship's course, speed or depth data. The electronic chart information 130 may include a system for displaying maritime related information on the navigation computer screen. In various embodiments, the electronic chart information 130 may be a digital chart that standardizes the content, structure, or format for use in an electronic chart display system (ECDIS) at a national authority responsible for the waterway service.

The charity state measuring unit 140 can measure the state of the ship by receiving ship information indicating the state of the ship from sensors or measuring instruments provided on the ship. Specifically, the charity state measuring unit 140 may include at least one of a global positioning system (GPS), a speed log, an anemometer, a loading computer, or an RPM sensor have.

GPS (Global Positioning System) is a GPS receiver that can measure the exact time and distance from three or more satellites and accurately calculate the ship's current position according to the triangulation method at each of three different distances. GPS can be used to obtain distance and time information from three satellites and to correct the error with one satellite.

The speed log can measure the speed of the ship. The flowmeter may operate in an ultrasonic, propeller or hot-wire manner and is not limited to the flowmeter used in the present invention.

The anemometer can measure the direction of the ship by measuring the wind direction.

The loading computer can measure the draft of the ship in relation to the cargo loaded on the ship.

The RPM sensor can measure the speed (rpm) of the propeller of the ship.

The collision risk recognizing unit 100 recognizes the vessel information acquired from various sensors or measuring instruments included in the charity state measuring unit 140 and the position of the marine structure acquired from the ship automatic identifying unit 110 or the radar ARPA 120 It is possible to recognize the presence of a collision hazardous object, which is a maritime structure having a risk of collision with the ship, based on the maritime related information contained in the information and the electronic chart information 130.

3 is a block diagram showing a configuration of a control section of the ship collision avoiding apparatus according to the present invention.

3, the control unit 200 of the ship collision avoiding apparatus 10 may include a collision risk calculation unit 210 and an avoidance path generation unit 220. [ Although only the collision risk calculator 210 and the avoidance path generator 220 are shown in FIG. 3, the controller 200 may include other modules that perform various functions. The control unit 200 can perform the functions performed by the collision risk calculation unit 210 and the avoidance path generation unit 220 of the control unit 200 in various embodiments.

The collision risk calculator 210 may calculate the risk of collision of the ship with respect to the collision dangerous object recognized by the collision dangerous object recognition unit 100. [ A risk fuzzy function constructed from interviews with experienced operators in the calculation of the risk of collision can be used. Various algorithms may be used to calculate the risk of collision in various embodiments, and the present invention is not limited to algorithms for calculating the risk of collision.

The control unit 200 displays the calculated collision risk rate on the display unit 300 or when the collision dangerous goods recognition unit 100 recognizes a plurality of collision hazardous materials, have. Also, the control unit 200 can determine the avoidance priority order when there are a plurality of colliding dangerous goods. The control unit 200 may transmit the avoidance priority order to the display unit 300 to display the determined plurality of collision hazardous materials.

The avoidance path generation unit 220 of the control unit 200 may generate an avoidance path that is a path for avoiding the collision dangerous object when the calculated collision risk rate exceeds a preset threshold value. At this time, the avoidance path generation unit 220 can generate the avoidance path based on the charity information stored in the charity information storage unit 400 in advance.

The charity information is the minimum information that is used to estimate the maneuvering performance of the ship. The charity information is information about the ship length, width, speed-resistance curve, propeller diameter, thrust reduction factor, rebound ratio, Or a hydraulic force coefficient. In addition, the oil strength coefficient can reflect information such as draft, squareness coefficient, displacement, and stern shape coefficient.

In various embodiments, the avoidance path generator 220 may generate the avoidance path based on the piloting performance based on the result of the planar motion mechanism test (PMM) based on the charity information.

Also, the avoidance path generation unit 220 learns the movement of the opponent ship through the specification and movement of the opponent ship acquired by the automatic ship identification unit (AIS) 110 of the conflicting dangerous object recognition unit 100, Can be estimated. The avoidance path generation unit 220 can generate the avoidance path of the ship by reflecting the maneuverability of the estimated opponent ship.

In addition, the avoidance path generating unit 220 may take into account environmental information such as wind direction or algae when generating the avoidance path of the ship.

Also, the avoidance path generating unit 220 learns a change in the maneuvering performance according to the change of the draft measured by the charity state measuring unit 140 of the collision dangerous object recognizing unit 100 through self-learning, and performs auto tuning It can improve the accuracy of performance.

Also, the avoidance path generation unit 220 can estimate the maneuverability of the charity line and the other line using the charity line information stored in the charity information storage unit 400, and generate the avoidance path reflecting the maneuverability.

Also, the avoidance path generation unit 220 may perform object communication between the ships on which the collision avoidance apparatus 10 according to the present invention is mounted, thereby automatically generating the avoidance path between the ships on which the collision avoidance apparatus 10 is mounted .

The control unit 200 may transmit the avoidance path generated by the avoidance path generating unit 220 to the display 300 and display the avoidance path. At this time, if there are a plurality of collision hazardous materials, the avoidance route for each collided dangerous object can be displayed. Alternatively, it is possible to display the collision hazardous material with the highest risk of collision and to indicate the avoidance path.

The avoidance path generated by the avoidance path generating unit 220 includes at least one of steering angle information and azimuth angle information of the ship for avoidance.

In various embodiments, when the avoidance path generating unit 220 generates the avoidance path, the steering range of the ship can be limited. Specifically, in the case of a container carrier or a car carrier, an accident caused by a sudden start may occur. Therefore, the avoidance path generating unit 220 can generate a avoidance path in a limited steering range in consideration of the charity information and the loaded cargo information.

The avoidance path generating unit 220 can recognize the XTD set on the ship as a wall in order to create a avoidance path that does not deviate from a predetermined cross track distance (XTD) in the path of the ship.

Here, the cross track distance XTD is the distance to the left (L) or right (R) in the course of the ship.

4 is a block diagram showing the configuration of an external interface of the ship collision avoiding apparatus according to the present invention.

4, the external interface 500 of the ship collision avoiding apparatus 10 may include a vessel key control unit 510 and a warning notification apparatus 520. [

4, the ship key control unit 510 and the alert notification unit 520 are shown as components of the external interface 500. However, the external interface 500 of the ship collision avoiding apparatus 10 of the present invention is not limited to the ship key control unit 510, In addition to the alarm notification device 520 and the alarm notification device 520, an interface with a control unit or an external device of various external devices for avoiding collision of the ship.

The ship key control unit 510 can control the ship key based on the avoidance path generated by the avoidance path generating unit 220 of the control unit 200. [

Alert notification device 520 may alert a small dron around a collision hazard so that the ship can avoid a collision.

Alternatively, the warning notifying device 520 can display the turn direction of the ship by controlling a turn signal light provided on the ship.

5 is a flowchart illustrating a method of avoiding a collision of a ship according to an embodiment of the present invention.

Referring to FIG. 5, the ship collision avoiding apparatus 10 can recognize a collision dangerous object based on information acquired from various equipments mounted on the ship (601). More specifically, the ship collision avoiding apparatus 10 can determine the position of the offshore structure, measure the state of the ship, and recognize the collision dangerous object that may collide with the ship. The collision avoiding apparatus 10 is a collision avoiding apparatus that receives ship information acquired from various sensors or measuring instruments included in a ship, location information of a marine structure obtained from an AIS 110 or a radar ARPA 120, It is possible to recognize the presence of a collision hazardous object, which is a maritime structure having a risk of collision with a ship, based on the maritime related information contained in the ship 130.

In step 603, the ship collision avoiding device 10 can calculate the risk of collision of the ship with respect to the recognized collision dangerous material. A risk fuzzy function constructed from interviews with experienced operators in the calculation of the risk of collision can be used. Various algorithms may be used to calculate the risk of collision in various embodiments, and the present invention is not limited to algorithms for calculating the risk of collision.

When there are a plurality of collision hazardous materials, the ship collision avoidance apparatus 10 can calculate a risk rate for each collided dangerous object.

In step 605, the ship collision avoiding apparatus 10 can display the calculated risk ratio. At this time, the ship collision avoiding apparatus 10 can be displayed on the display unit 300 in order of high risk. The ship collision avoiding apparatus 10 can determine the avoidance priority when there are a plurality of collision dangerous goods. The ship collision avoiding apparatus 10 may display on the display unit 300 the avoidance priorities for the plurality of determined collision hazardous materials.

In step 607, the ship collision avoiding apparatus 10 may determine whether the calculated collision risk rate exceeds a predetermined threshold value. As a result of the determination, when the calculated collision risk rate exceeds a predetermined threshold value, the ship collision avoidance apparatus 10 can generate an avoidance path as a route for avoiding collision dangerous goods. At this time, the ship collision avoiding apparatus 10 can generate a avoidance route based on the previously stored charity information (609). The charity information is the minimum information that is used to estimate the maneuvering performance of the ship. The charity information is information about the ship length, width, speed-resistance curve, propeller diameter, thrust reduction factor, rebound ratio, Or a hydraulic force coefficient. In addition, the oil strength coefficient can reflect information such as draft, squareness coefficient, displacement, and stern shape coefficient.

In various embodiments, the ship collision avoidance device 10 may generate a avoidance path based on pilot information based on the result of the planar motion mechanism test (PMM) based on the charity information. In addition, the ship collision avoiding device 10 mechanically learns the movement of the opponent ship through the specification and movement of the opponent ship acquired by the automatic ship identification (AIS) 110 of the collision dangerous goods recognition unit 100, Can be estimated. The ship collision avoiding apparatus 10 can generate the avoidance path of the ship by reflecting the maneuverability of the estimated opponent ship. In addition, the ship collision avoiding device 10 can take into account environmental information such as wind direction or algae when generating a ship avoidance path. Also, the ship collision avoiding apparatus 10 acquires the control performance change according to the change of the draft measured by the charity condition measuring unit 140 of the collision dangerous goods recognition unit 100 through self-learning, and performs auto tuning It can improve the accuracy of performance. In addition, the ship collision avoiding apparatus 10 can estimate the maneuverability of the charity and the other ship using the charity information, and generate the avoidance path reflecting the maneuverability. Also, the ship collision avoiding apparatus 10 can perform object communication between the ships on which the collision avoiding apparatus 10 is mounted, thereby automatically generating the avoidance path between the ships on which the collision avoiding apparatus 10 is mounted.

The ship collision avoiding apparatus 10 can display the generated avoiding path on the display unit 300 in step 611. [ The ship collision avoiding apparatus 10 can display the collision risk in the order of higher risk when there are a plurality of collision dangerous goods. The ship collision avoiding apparatus 10 can display the avoidance priority for a plurality of collision hazardous materials. The ship collision avoiding apparatus 10 can display the risk rate and avoidance priority for the collision dangerous object of restoration up to a certain point when it is assumed that the dangerous collision object maintains the current state or performs the normal avoidance operation according to the regulations.

While the invention has been shown and described with reference to certain preferred embodiments thereof, it will be understood by those of ordinary skill in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims. This is possible.

Therefore, the scope of the present invention should not be limited to the described embodiments, but should be determined by the equivalents of the claims, as well as the claims.

In the embodiments described above, all of the steps may optionally be performed or omitted. Also, the steps in each embodiment need not occur in order, but may be reversed. It should be understood, however, that the embodiments herein disclosed and illustrated herein are illustrative of specific examples and are not intended to limit the scope of the present disclosure. That is, it will be apparent to those skilled in the art that other modifications based on the technical idea of the present invention are feasible.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, And is not intended to limit the scope of the invention. It is to be understood by those skilled in the art that other modifications based on the technical idea of the present invention are possible in addition to the embodiments disclosed herein.

10: Ship collision avoidance device
100: Collision dangerous goods recognition unit
200:
300:
400: Charity information storage unit
500: External interface

Claims (10)

Recognizing at least one collision hazardous object which is a maritime structure likely to collide with the ship;
Calculating a risk of collision of the ship with the collision hazardous material;
Generating an avoidance path for avoiding the collision hazardous material based on the charity information of the ship including the ship's navigation information and the ship's specification information when the calculated collision risk rate exceeds a predetermined threshold value ; And
And displaying the generated avoidance path. The method according to claim 1,
The navigation information includes at least one of a current position, a speed, a wind speed, a draft, and a propeller RPM of the ship as fluctuable values measured at the time of navigation,
The specification information includes at least one of a length, a width, a speed-resistance curve, a propeller diameter, a thrust reduction factor, a counter current ratio, a forward non-thrust coefficient curve, And the collision avoidance method of the ship. The method according to claim 1,
Further comprising the step of, when the plurality of the collision hazardous materials are present, displaying the calculated collision risk in descending order of risk. The method of claim 1, wherein recognizing at least one collision hazardous object, which is a maritime structure,
Location information of maritime structures obtained from automatic identification system (AIS) or automatic radar plotting aids (ARPA), and electronic navigation information (electronic navigation information) obtained from sensors or measurement equipment included in the ship (ENC), the presence of a collision hazardous object is recognized based on the maritime related information contained in the chart. The method as claimed in claim 1, wherein the step of generating the avoidance path for avoiding the collision hazardous material based on the charity information of the ship comprises:
Wherein the cross-track distance is generated so as not to exceed a predetermined cross-track distance (XTD) in a path along which the ship travels. A collision dangerous goods recognition unit for recognizing at least one collision dangerous object which is a maritime structure likely to collide with a ship;
Calculating a collision risk rate of the ship with respect to the collision dangerous object, and, when the calculated collision risk rate exceeds a predetermined threshold value, calculating the charity information of the ship including the navigation information of the ship and the specification information of the ship A control unit for generating an avoidance path for avoiding the collision hazardous material; And
And a display unit for displaying the generated avoidance path. The method according to claim 6,
The navigation information includes at least one of a current position, a speed, a wind speed, a draft, and a propeller RPM of the ship as fluctuable values measured at the time of navigation,
The specification information includes at least one of a length, a width, a speed-resistance curve, a propeller diameter, a thrust reduction factor, a counter current ratio, a forward non-thrust coefficient curve, Wherein the collision avoidance apparatus includes at least one of a collision avoidance apparatus and a collision avoidance apparatus. The display device according to claim 6,
Wherein when the plurality of the collision dangerous items are present, the calculated collision risk is displayed in descending order of risk. 7. The apparatus of claim 6,
Location information of maritime structures obtained from automatic identification system (AIS) or automatic radar plotting aids (ARPA), and electronic navigation information (electronic navigation information) obtained from sensors or measurement equipment included in the ship The ship collision avoidance device recognizes the presence of collision hazardous materials based on marine related information contained in the chart (ENC). 7. The apparatus of claim 6,
Wherein the avoidance path is created such that the cross track distance (XTD) does not exceed a predetermined cross track distance (XTD) in the path of the ship.

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