자율운항선박의 충돌회피 시스템이 개시된다. 자율운항선박의 충돌회피 시스템은, 자율운항선박의 속도 및 방향을 제어하는 조타 장치, 자율운항선박이 항해 중에, 자율운항선박 주변의 해상에서 물체를 탐지하고, 탐지된 물체의 위치 정보, 이동 속도, 이동 방향 및 형태 정보를 획득하는 주변 탐색 장치 및 미리 설정된 목적지까지의 항해 경로를 생성하고, 생성된 항해 경로에 따라 자율운항선박이 항해하도록 조타 장치를 제어하고, 획득된 위치 정보, 이동속도, 이동방향 및 형태 정보를 이용하여, 탐지된 물체가 자율운항선박의 항해경로 상에 위치하는지 여부를 판단하고 탐지된 물체의 크기를 예측하여, 탐지된 물체의 장애물 여부를 판별하고, 탐지된 물체가 장애물로 판별되면, 탐지된 물체의 수중에 잠긴 물체 하부의 형태 정보를 고려하여 탐지된 물체와의 충돌을 회피하도록 항해경로를 수정하고, 수정된 항해경로에 따라 자율운항선박이 항해하도록 제어하는 자율 운항 장치를 포함한다.
Disclosed is a collision avoidance system for an autonomous vessel. The present invention is to provide the collision avoidance system for an autonomous vessel, capable of controlling an autonomous vessel for the autonomous vessel to sail in a safe navigation path avoiding a collision with an object on the sea. The collision avoidance system for an autonomous vessel includes: a steering gear controlling the speed and the direction of the autonomous vessel; a periphery searching device detecting an object on the sea in the periphery of the autonomous vessel while the autonomous vessel is sailing, and obtaining position information, a moving speed, a moving direction, and shape information of the detected object; and an autonomous navigation device generating the navigation path to a predetermined destination and controlling the steering gear for the autonomous vessel to sail according to the generated navigation path. Furthermore, the autonomous navigation device determines whether the detected object is located on the navigation path of the autonomous vessel by using the obtained position information, moving speed, moving direction, and shape information. Also, the autonomous navigation device predicts the size of the detected object and discriminates whether the detected object is an obstacle. When the detected object is determined to be an obstacle, the autonomous navigation device corrects the navigation path to avoid a collision with the detected object by considering the shape information on the lower part of the detected object submerged in the water. Moreover, the autonomous navigation device controls the autonomous vessel so that the autonomous vessel sails according to the corrected navigation path.
Collision avoidance system for autonomous ships
자율운항선박의 충돌회피 시스템
2023-12-29
Patent
Electronic Resource
Korean
IPC: | B63B Schiffe oder sonstige Wasserfahrzeuge , SHIPS OR OTHER WATERBORNE VESSELS / B63H Schiffsantrieb oder Steuerung der Schiffe , MARINE PROPULSION OR STEERING / G01S RADIO DIRECTION-FINDING , Funkpeilung / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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