KR-20260063461-A - Method for determining the operational stages of autonomous ships and apparatus thereof

Abstract

One embodiment of the present invention discloses a method for determining the operation phase of an autonomous vessel.

Inventors

• 백승대
• 강윤호
• 김사론
• 박신현
• 이상현
• 정영수
• 윤지영
• 박혜리

Assignees

• 에이치디한국조선해양 주식회사
• 에이치디현대중공업 주식회사
• 에이치디현대삼호 주식회사

Dates

Publication Date

20260507

Application Date

20241030

Claims (11)

1. A step of receiving GSHHS (Global Self-consistent, Hierarchical, High-resolution Geography database) coastline data; A step of updating the ROI in real time according to changes in the center coordinates of the target vessel in the received GSHHS coastline data; A step of designating a coastal area located at a predetermined distance from the coastline based on the above-mentioned updated ROI; and A method for determining the operation phase of an autonomous vessel, comprising the step of adding a VTS area in addition to the aforementioned designated coastal area, and determining the operation phase of the target vessel based on the RGB information of the pixel of the center coordinate of the target vessel in the coastal area or the VTS area.
2. In paragraph 1, The above predetermined distance is, Method for determining the operational phase of an autonomous vessel based on the territorial sea standard distance.
3. In paragraph 1, The above ROI is an area having a predetermined width centered on the center coordinates of the target vessel, a method for determining the operation phase of an autonomous vessel.
4. In paragraph 1, The step of determining the above-mentioned operation stage is, If the RGB information of the pixel at the center coordinate of the above-mentioned target vessel is the first color, the operation phase of the above-mentioned target vessel is operation in the coastal area, and A method for determining the operation stage of an autonomous vessel, wherein if the RGB information of the pixel at the center coordinate of the above-mentioned target vessel is a second color, the operation stage of the above-mentioned target vessel is determined to be operation in a VTS area.
5. In paragraph 1, The step of determining the above-mentioned operation stage is, Based on the received GSHHS coastline data above, an ocean area is added to the ROI in addition to the coastal area and the VTS area, and A method for determining the operation stage of an autonomous vessel, wherein if the RGB information of the pixel at the center coordinate of the above-mentioned target vessel is a third color, the operation stage of the above-mentioned target vessel is determined to be operation in an ocean area.
6. A computer-readable recording medium storing a program for executing the method according to paragraph 1.
7. Communications Department; Memory in which at least one program is stored; and By executing at least one of the above programs, the processor performs operations, and The above processor is, Receive GSHHS coastline data, and update the ROI in real time according to changes in the center coordinates of the target vessel in the received GSHHS coastline data, and A device for determining the operation phase of an autonomous vessel, which designates a coastal area located at a predetermined distance from the coastline based on the above-mentioned updated ROI, adds a VTS area in addition to the above-mentioned coastal area, and determines the operation phase of the target vessel using RGB information of the pixel of the center coordinates of the target vessel in the above-mentioned coastal area or the above-mentioned VTS area.
8. In Paragraph 7, The above predetermined distance is, A device for determining the operational phase of an autonomous vessel, based on the territorial sea distance.
9. In Paragraph 7, The above ROI is an area having a predetermined width centered on the center coordinates of the target vessel, a device for determining the operation phase of an autonomous vessel.
10. In Paragraph 7, The above processor is, If the RGB information of the pixel at the center coordinate of the above-mentioned target vessel is the first color, the operation phase of the above-mentioned target vessel is operation in the coastal area, and An autonomous vessel operation stage determination device that determines the operation stage of the target vessel as operation in a VTS area when the RGB information of the pixel at the center coordinate of the target vessel is a second color.
11. In Paragraph 7, The above processor is, Based on the received GSHHS coastline data above, an ocean area is added to the ROI in addition to the coastal area and the VTS area, and An autonomous vessel operation stage determination device that determines the operation stage of the target vessel as operation in an ocean area when the RGB information of the pixel at the center coordinate of the target vessel is a third color.

Description

Method for determining the operational stages of autonomous ships and apparatus thereof The present invention relates to a method for determining the operational phase of a ship, and more specifically, to a method for determining the operational phase of an autonomous ship and an apparatus for implementing the method. Unmanned mobile entities, such as autonomous ships or autonomous vehicles, must accurately determine the current mission stage they are in to perform their tasks. For example, autonomous vehicles define their missions according to the operational stage, such as city driving, highway driving, or parking. In the case of autonomous vessels, operational phases, such as deep sea and berthing, are distinguished to execute missions and control the ship. Clear differentiation of operational phases is essential because control authority and decision-making conditions differ depending on each phase. Conventional navigation phase determination is based on the distance between the vessel and the coastline. Navigation software such as OpenCPN calculates this distance by drawing an arbitrary straight line relative to the vessel to determine if it is tangent to the coastline. This conventional method of determining navigation phase requires a large amount of data and involves long calculation times, as it determines the phase by comparing the vessel's coordinates with stored coordinate information for each zone. Furthermore, the determination of the navigation phase is influenced by factors related to designated areas, such as VTS regions and canals, and these factors are not properly reflected in the system. In addition, conventional navigation phase determination methods struggle to effectively and quickly account for factors subject to additional changes (VTS regions, canals, etc.). FIG. 1 is a flowchart illustrating an example of a method according to the present invention. Figure 2 is a diagram illustrating an exemplary region of interest generated based on imaged GSHHS data. Figure 3 is a diagram illustrating the process of designating a coastal area. Figures 4 and 5 are drawings to explain the process of designating the VTS area after the coastal area is designated. FIG. 6 is a block diagram showing an example of a navigation stage judgment device according to the present invention. FIG. 7 is a flowchart illustrating an example of a method for automatically arranging piping within a ship according to the present invention. The present invention is capable of various modifications and may have various embodiments; specific embodiments are illustrated in the drawings and described in detail in the detailed description. The effects and features of the present invention, and the methods for achieving them, will become clear by referring to the embodiments described below in detail together with the drawings. However, the present invention is not limited to the embodiments disclosed below but can be implemented in various forms. Hereinafter, embodiments of the present invention will be described in detail with reference to the attached drawings. When describing with reference to the drawings, identical or corresponding components are given the same reference numerals, and redundant descriptions thereof will be omitted. In the following embodiments, terms such as first, second, etc. are used not in a limiting sense, but for the purpose of distinguishing one component from another component. In the following embodiments, singular expressions include plural expressions unless the context clearly indicates otherwise. In the following embodiments, terms such as "include" or "have" mean that the features or components described in the specification are present, and do not preclude the possibility that one or more other features or components may be added. Where an embodiment can be implemented differently, a specific process sequence may be performed differently from the order described. For example, two processes described consecutively may be performed substantially simultaneously or proceed in the reverse order of the description. FIG. 1 is a flowchart illustrating an example of a method according to the present invention. Hereinafter, the device implementing the method according to the present invention will be abbreviated as the navigation stage judgment device. Since the operation phase determination device can determine the operation phase of an autonomous vessel using GSHHS (Global Self-consistent, Hierarchical, High-resolution Geography database) data, the operation phase determination device can start GSHHS setup (S105). The navigation phase judgment device can receive the current location of the vessel (S115). At this time, the current location of the vessel may be entered by a user or may be entered through the vessel's GPS included in the vessel's AIS data (S120). The navigation phase judgment device can perform basic settings of the GSHHS (S125). In step S125, the basic settings of the GSHHS may in