3D shape construction device and method for detecting ship collision

Abstract

The present invention relates to a 3D shape configuration device and method for detecting a collision of a ship, which allows for decomposition into a convex hull of an appropriate size according to a collision detection scenario of the ship using a division method applying a hierarchical structure. The device comprises: a ship 3D mesh model construction unit for constructing a ship 3D mesh model; a ship upper and lower separation unit for dividing the hull into upper and lower parts centered on the deck section; a ship lower sub-separation unit for dividing the lower part of the hull into a bow section, a mid-hull section, and a stern section; a convex outer shape division unit for dividing block shells for each separated part of the hull by adjusting the size of the convex hull while maintaining a circular shape; and a ship assembly configuration unit for combining block shells for each part of the hull divided by the convex outer shape division unit.

Description

Technology Field

[0001] The present invention relates to collision detection of a ship, and specifically to a 3D shape configuration device and method for detecting a ship collision that allows decomposition into a convex hull of an appropriate size according to a ship collision detection scenario using a segmentation method applying a hierarchical structure. Background Technology

[0002] In general, collision inspections must be performed to determine whether there is contact between a vessel and a quay or between vessels.

[0003] Most collision detection techniques currently in use are performed only on convex shapes.

[0004] Figures 1a and 1b are diagrams showing examples of convex polygons and concave polygons.

[0005] In a convex polygon, if you take any two points on the figure and connect them, the entire line segment lies inside the figure, and all interior angles are less than or equal to 180 degrees.

[0006] And a concave polygon is a non-convex shape, and when any two points are taken and connected, there is always a case where the whole or part exists outside the shape, and there is at least one interior angle greater than 180 degrees.

[0007] FIGS. 2a to 2e are configuration diagrams showing a conventional ship collision inspection method.

[0008] When applying to ships, a method of performing collision inspection by covering the entire ship with a shape (Sphere, AABB, OBB, k-DOP method, etc.) is used.

[0009] In the case of conventional ship collision inspection methods, a massive amount of computation is required to directly use a 3D mesh model of the ship.

[0010] Therefore, it is a method in which a shape for collision inspection is typically set up on a vessel, the shape encircles the entire vessel, and a collision check is performed between this shape and a shape encircling another vessel.

[0011] It is necessary to accurately calculate the collision point of a ship, but conventional ship collision inspection methods have the problem of being unable to specify the collision location and the possibility of false positives because they enclose the entire shape, resulting in a collision being judged as having occurred when it did not.

[0012] FIGS. 3a to 3e are configuration diagrams showing an example of a ship configured with a combination of OBBs.

[0013] Concave shapes, which are commonly found in complex geometric figures, are divided into Convex shapes, and collision checks are performed on each.

[0014] Figure 4 is a schematic diagram showing an example of approximation using Approximate Convex Decomposition (ACD).

[0015] The process of dividing a complex shape into multiple convex shapes is called convex decomposition.

[0016] Since ships also contain many concave shapes, decomposition is necessary, and convex decomposition can be broadly divided into two categories: ACD (Approximate Convex Decomposition) and ECD (Exact Convex Decomposition).

[0017] ECD forms multiple convex shapes while maintaining the overall shape accurately; although it preserves the original shape precisely, it requires a significant amount of computation time, making it difficult to use in real-time simulations.

[0018] ACD is widely used in simulations because it approximates the shape and creates multiple convex shapes, although it involves some error, it consumes less computation time.

[0019] Figures 5a and 5b are schematic diagrams showing an example of ship approximation using V-HACD.

[0020] Currently, it has evolved in the order of ACD → HACD → V-HACD.

[0021] V-HACD is the most widely used because it allows for the adjustment of the size of the convex hull using optimization techniques while maintaining the circular shape as much as possible.

[0022] However, there is a problem in that the size of the convex hull is not adjusted in flat areas due to the optimization technique for the number of voxels used.

[0023] As shown in Fig. 5b, even if the parameters of the V-HACD algorithm are adjusted, the size of the convex hull on the side of the hull does not decrease.

[0024] This means that in the case of a hull with a wide flat area, such as the side of the hull, the size of the convex hull cannot be reduced below a certain level, and this becomes a factor that causes a large error in estimating the collision location.

[0025] Therefore, there is a need for the development of new technology that can decompose into a convex hull of an appropriate size according to the collision detection scenario of the ship. Prior art literature

[0026] Republic of Korea Published Patent No. 10-2023-0023844 Republic of Korea Published Patent No. 10-2021-0116799 Republic of Korea Published Patent No. 10-2016-0118799 The problem to be solved

[0027] The present invention aims to solve the problems of conventional ship collision detection technology by providing a 3D shape configuration device and method for detecting a ship collision that can decompose into a convex hull of an appropriate size according to a ship collision detection scenario using a segmentation method that applies a hierarchical structure.

[0028] The present invention aims to provide a 3D shape configuration device and method for detecting a collision of a ship, which allows for the adjustment of the size of the convex hull while maintaining the circular shape as much as possible by dividing the hull into upper and lower parts centered on the deck section, and dividing the lower part of the hull into three parts—a bow section, a midship section, and a stern section—and dividing the block shell for each part.

[0029] The present invention aims to provide a 3D shape configuration device and method for detecting a collision of a ship, which can reduce the error in estimating the collision location by allowing the size of the convex hull to be adjusted even in the case of a hull with a wide flat area, such as the side of the hull.

[0030] Other objectives of the present invention are not limited to those mentioned above, and other unmentioned objectives will be clearly understood by those skilled in the art from the description below. means of solving the problem

[0031] A 3D shape configuration device for detecting a collision of a ship according to the present invention for achieving the above-mentioned purpose comprises: a ship 3D mesh model construction unit for constructing a ship 3D mesh model; a ship upper and lower separation unit for dividing the hull into an upper part and a lower part centered on the deck part; a ship lower sub-separation unit for dividing the lower part of the hull into a bow part, a hull center part, and a stern part; a convex outer shape division unit for dividing block shells for each separated part of the hull by adjusting the size of the convex hull while maintaining a circular shape; and a ship assembly configuration unit for combining block shells for each part of the hull divided by the convex outer shape division unit.

[0032] A method for constructing a 3D shape for detecting a collision of a ship according to the present invention for achieving other purposes comprises: a ship 3D mesh model construction step for constructing a ship 3D mesh model; a ship upper and lower separation step for dividing the hull into an upper part and a lower part centered on the deck part; a ship lower sub-separation step for dividing the lower part of the hull into a bow part, a hull center part, and a stern part; a step of dividing block shells for each part of the separated hull by adjusting the size of the convex hull while maintaining a circular shape; and a step of combining the block shells for each part of the hull divided in the convex shell division step to construct the entire ship 3D shape. Effects of the invention

[0033] The 3D shape configuration device and method for detecting a collision of a ship according to the present invention, as described above, have the following effects.

[0034] First, a partitioning method applying a hierarchical structure allows for decomposition into a convex hull of an appropriate size according to the collision detection scenario of the ship.

[0035] Second, the hull is divided into upper and lower sections centered on the deck section, and the lower section is divided into three parts: the bow, the middle section, and the stern section. By dividing the block shells for each section, the size of the convex hull can be adjusted while maintaining the circular shape as much as possible.

[0036] Third, even in the case of a hull with a wide flat area such as the side of the hull, the size of the convex hull can be adjusted to reduce the error in estimating the collision location. Brief explanation of the drawing

[0037] FIGS. 1A and 1B are configuration diagrams showing examples of convex polygons and concave polygons. FIGS. 2a to 2e are configuration diagrams illustrating a conventional ship collision inspection method. FIGS. 3a to 3e are configuration diagrams showing an example of a vessel configured with a combination of OBBs. FIG. 4 is a configuration diagram showing an example of approximation using Approximate Convex Decomposition (ACD). Figures 5a and 5b are schematic diagrams showing an example of ship approximation using V-HACD. FIG. 6 is a configuration diagram showing the basic principle of a 3D shape configuration method for detecting a collision of a ship according to the present invention. FIG. 7 is a configuration diagram of a 3D shape configuration device for detecting a collision of a ship according to the present invention. FIG. 8 is a flowchart illustrating a 3D shape configuration method for detecting a collision of a ship according to the present invention. FIG. 9 is a configuration diagram showing a 3D shape configuration process for detecting a collision of a ship according to the present invention. FIGS. 10a and 10b are a configuration diagram and a flowchart illustrating a device and method for constructing a 3D shape of the central part of a ship according to the present invention. FIG. 11 is a configuration diagram showing an example of a method for constructing a 3D shape of the central part of a ship according to the present invention. FIG. 12 is a configuration diagram showing an example of a hull completed by a 3D shape configuration method for detecting a collision of a ship according to the present invention. FIG. 13 is a configuration diagram showing an example of ship contact point designation and history management to which the present invention is applied. FIG. 14 is a configuration diagram showing an example of a docking assistance simulation using a tug boat to which the present invention is applied. Specific details for implementing the invention

[0038] Hereinafter, preferred embodiments of the 3D shape configuration device and method for detecting a collision of a ship according to the present invention will be described in detail as follows.

[0039] The features and advantages of the 3D shape configuration device and method for detecting a collision of a ship according to the present invention will become apparent through the detailed description of each embodiment below.

[0040] FIG. 6 is a schematic diagram showing the basic principle of a 3D shape configuration method for detecting a collision of a ship according to the present invention.

[0041] The terms used in this disclosure have been selected to be as widely used and general as possible, taking into account their functions within this disclosure; however, these terms may vary depending on the intent of those skilled in the art, case law, the emergence of new technologies, etc. Additionally, in specific cases, terms have been selected at the applicant's discretion, and in such cases, their meanings will be described in detail in the relevant description of the invention. Therefore, terms used in this disclosure should be defined not merely by their names, but based on their meanings and the overall content of this disclosure.

[0042] When a part of a specification is described as "including" a certain component, this means that, unless specifically stated otherwise, it does not exclude other components but may include additional components. Furthermore, terms such as "...part" or "module" as used in the specification refer to a unit that processes at least one function or operation, and this may be implemented in hardware or software, or as a combination of hardware and software.

[0043] In particular, units that process at least one function or operation may be implemented as an electronic device including at least one processor, and at least one peripheral device may be connected to the electronic device depending on the method of processing the function or operation. Peripheral devices may include a data input device, a data output device, and a data storage device.

[0044] The 3D shape configuration device and method for detecting a collision of a ship according to the present invention enables decomposition into a convex hull of an appropriate size according to a collision detection scenario of the ship using a segmentation method that applies a hierarchical structure.

[0045] To this end, the present invention may include a configuration that allows for the adjustment of the size of the convex hull while maintaining the circular shape as much as possible by dividing the hull into an upper part and a lower part centered on the deck, and dividing the lower part of the hull into three parts: a bow part, a midship part, and a stern part, and dividing the block shell for each part.

[0046] The present invention may include a configuration that allows the size of the convex hull to be adjusted even in the case of a hull with a wide flat area, such as the side of the hull, thereby reducing the error in estimating the collision location.

[0047] FIG. 7 is a configuration diagram of a 3D shape configuration device for detecting a collision of a ship according to the present invention.

[0048] As shown in FIG. 7, the 3D shape configuration device for detecting a collision of a ship according to the present invention comprises a ship 3D mesh model construction unit (10) for constructing a ship 3D mesh model, a ship upper and lower separation unit (20) for dividing the hull into upper and lower parts centered on the deck part, a ship lower sub-separation unit (30) for dividing the lower part of the hull into a bow part, a hull center part, and a stern part, a convex outer shape division unit (40) for dividing block shells for each part of the separated hull by adjusting the size of the convex hull while maintaining a circular shape, and a ship assembly configuration unit (50) for combining block shells for each part of the hull divided by the convex outer shape division unit (40).

[0049] The method for configuring a 3D shape for detecting a collision of a ship according to the present invention is described in detail as follows.

[0050] FIG. 8 is a flowchart illustrating a 3D shape configuration method for detecting a collision of a ship according to the present invention.

[0051] First, the ship 3D mesh model construction step is performed to construct a ship 3D mesh model. (S801)

[0052] Next, a ship upper and lower separation step is performed, in which the hull is divided into an upper part and a lower part centered on the deck section. (S802)

[0053] Then, a detailed separation step of the ship's lower hull is performed to separate the lower hull into the bow, midship, and stern sections. (S803)

[0054] Next, block shells for each separated part of the hull are divided by adjusting the size of the convex hull while maintaining the original shape. (S804)

[0055] Then, the block shells for each part of the hull divided in the convex outer shape division step are combined to form the entire 3D shape of the ship. (S805)

[0056] Figure 9 shows an example of the 3D shape configuration process for each step according to the 3D shape configuration method of Figure 8.

[0057] In order to reduce collision location estimation errors by adjusting the size of the convex hull to a desired size even in the case of a hull with a wide flat area such as the side of the hull, the present invention proceeds with the 3D shape configuration of the central part of the hull as follows.

[0058] FIGS. 10a and FIGS. 10b are a schematic diagram and a flowchart illustrating a device and method for constructing a 3D shape of the central part of a ship according to the present invention.

[0059] FIG. 10a shows the detailed configuration of a convex outer dividing section (40) that divides the block shell for each separated part of the hull by adjusting the size of the convex hull while maintaining the circular shape.

[0060] The 3D shape configuration device for the central part of a ship according to the present invention comprises a central part 3D mesh input unit (31) for inputting a 3D mesh model of the central part of the hull, and a desired rectangular prism size ( ) determined to form an AABB (Axis-Aligned Bounding Box) closely attached to the center of the hull ( Ch AABB generating unit (32) that generates ) and number of rectangles ( Calculate ) and AABB(Axis-Aligned Bounding Box)( Ch Subdivide ) into cubes of the desired edge length to obtain the desired length of the convex hull, and into small cubes with the length Cm ( , By creating ) Cm A segmentation cube generation unit (33) designated as (i,j,k), and Ch and Cm An intersection calculation unit (34) that calculates the intersection with (i,j,k), and Cp It includes a convex hull reconstruction unit (35) that reconstructs the convex hull using the above. Here, “Ø” means an empty set in which there is no intersection area between two objects.

[0061] The AABB generation unit (32) defines the dimensions of B (width), L (length), and H (height) when generating an AABB (Axis-Aligned Bounding Box) (Ch), thereby creating a desired rectangular prism size ( Determine ). The width, length, and height of the rectangular prism created by the AABB algorithm for the center of the hull (Ch) are B, L, and H, respectively.

[0062] And the segmentation cube generation unit (33) , , Judging whether or not Cp Returns.

[0063] and , , If so, the intersection area between the central part (Ch) and the subdivision cube Cm(i,j,k) is defined as Ct ( ) Ct Calculate and check the intersection region between the central part (Ch) and the subdivision cube Cm(i,j,k); if an intersection region exists ( If not (By determining) add the corresponding Ct to set Cp( ) does.

[0064] Figure 10b illustrates a method for 3D implementation of the hull center by comparing a rectangular prism with the hull, and shows an algorithm for a hierarchical convex hull with a desired side edge length.

[0065] Input a mesh model of the middle section of the hull to output a disassembled convex hull with the desired side edge length.

[0066] First, input the 3D mesh model of the midship section. (S1001)

[0067] Next, the desired rectangular prism size ( ) by determining (S1003) the AABB (Axis-Aligned Bounding Box) closely attached to the center of the hull ( Ch Creates ) (S1002)

[0068] And the number of rectangles ( Calculate ) (S1004), and the generated Using (S1005) , , Determine whether (S1006) or not Cp Returns.

[0069] and , , The other side as Ct Find and If not By determining Defined as (S1007 ~ S1010)

[0070] The method according to the embodiment can be implemented in the form of program instructions that can be executed through various computer means and recorded on a computer-readable medium.

[0071] In this case, the medium may continuously store a program executable by a computer, or temporarily store it for execution or download. Additionally, the medium may be various recording or storage means in the form of a single or multiple combined hardware units, and is not limited to a medium directly connected to a computer system but may also exist distributed over a network.

[0072] FIG. 11 is a diagram showing an example of a method for configuring the 3D shape of the central part of a ship according to the present invention.

[0073] The midship section is implemented through a comparison between a rectangular prism and the hull.

[0074] FIG. 12 is a diagram showing an example of a hull completed by a 3D shape configuration method for detecting a collision of a ship according to the present invention.

[0075] The midship section is implemented through a comparison between a rectangular prism and the hull.

[0076] In the case of a hull with a wide flat area, such as the side of the hull, the size of the convex hull is adjusted to the desired size to reduce the collision location estimation error, and the 3D shape configuration for the central part of the hull is performed as shown in Fig. 10b.

[0077] FIG. 13 is a configuration diagram showing an example of ship contact point designation and history management to which the present invention is applied.

[0078] And Fig. 14 is a configuration diagram showing an example of a docking assistance simulation using a tug boat to which the present invention is applied.

[0079] The 3D shape configuration device and method for detecting a collision of a ship according to the present invention described above is configured to allow decomposition into a convex hull of an appropriate size according to a collision detection scenario of the ship using a segmentation method that applies a hierarchical structure. This is achieved by dividing the hull into upper and lower parts centered on the deck section, and dividing the lower part of the hull into three parts—a bow section, a midship section, and a stern section—and then dividing the block shells for each part, thereby enabling adjustment of the size of the convex hull while maintaining the original shape as much as possible.

[0080] As explained above, it will be understood that the present invention is implemented in a modified form without departing from the essential characteristics of the invention.

[0081] Therefore, the described embodiments should be considered in an illustrative rather than a limiting sense, and the scope of the invention is defined by the claims rather than the foregoing description, and all variations within the equivalent scope should be interpreted as being included in the invention. Explanation of the symbols

[0082] 10. Ship 3D Mesh Model Construction Section 20. Ship upper and lower separation section 30. Detailed separation of the ship's lower hull 40. Convex outer shape dividing part 50. Ship Assembly Components

Claims

Claim 1 A 3D shape configuration device for detecting a collision of a ship, characterized by comprising: a ship 3D mesh model construction unit for constructing a ship 3D mesh model; a ship upper and lower separation unit for dividing the hull into upper and lower parts centered on the deck section; a ship lower sub-separation unit for dividing the lower part of the hull into a bow section, a mid-hull section, and a stern section; a convex shape division unit for dividing block shells for each separated part of the hull by adjusting the size of the convex hull while maintaining a circular shape; and a ship assembly configuration unit for combining the block shells for each part of the hull divided by the convex shape division unit. Claim 2 In claim 1, for configuring the 3D shape of the central part of the ship, a central part 3D mesh input unit for inputting a 3D mesh model of the central part of the hull, and a desired rectangular prism size ( ) determined to form an AABB (Axis-Aligned Bounding Box) closely attached to the center of the hull ( Ch An AABB generator that generates ) and the number of rectangles ( Calculate ) and ABB(Axis-Aligned Bounding Box)( Ch Subdivide ) into cubes of the desired edge length to obtain the desired length of the convex hull, and into small cubes with the length Cm ( , By creating ) Cm A segmentation cube generation unit designated as (i,j,k), and Ch and Cm An intersection calculation unit that calculates the intersection with (i,j,k), and Cp A 3D shape construction device for detecting collision of a ship, characterized by including a convex shell reconstruction unit that reconstructs a convex shell using , wherein Ø represents an empty set in which no intersection region exists. Claim 3 In claim 2, the AABB generating unit (32) is an AABB (Axis-Aligned Bounding Box) ( Ch When creating ), define the dimensions B (width), L (length), and H (height) to obtain the desired rectangular prism size ( A 3D shape configuration device for detecting a collision of a ship, characterized by determining ) and having a rectangular prism created by the AABB algorithm for the center of the hull (Ch) with respect to B, L, and H, respectively. Claim 4 In Clause 2, the subdivision cube generation unit is, , , Judging whether or not Cp Returns, , , The other side By defining the intersection area between the central part (Ch) and the subdivision cube Cm(i,j,k) as Ct, ( ) Ct Calculate and check the intersection region between the central part (Ch) and the subdivision cube Cm(i,j,k); if an intersection region exists ( If not (By determining) add the corresponding Ct to set Cp( A 3D shape configuration device for detecting a collision of a ship, characterized by ) Claim 5 A method for constructing a 3D shape for detecting a collision of a ship, characterized by comprising: a ship 3D mesh model construction step for constructing a ship 3D mesh model; a ship upper and lower separation step for dividing the hull into upper and lower parts centered on the deck section; a ship lower sub-separation step for dividing the lower part of the hull into a bow section, a mid-hull section, and a stern section; a step of dividing block shells for each separated part of the hull by adjusting the size of the convex hull while maintaining a circular shape; and a step of combining the block shells for each part of the hull divided in the convex shell division step to form the overall 3D shape of the ship. Claim 6 In claim 5, for configuring the 3D shape of the central part of the ship, a central part 3D mesh input step for inputting a 3D mesh model of the central part of the hull, and a desired rectangular prism size ( ) determined to form an AABB (Axis-Aligned Bounding Box) closely attached to the center of the hull ( Ch AABB generation step that generates ) and the number of rectangles ( Calculate ) and ABB(Axis-Aligned Bounding Box)( Ch Subdivide ) into cubes of the desired edge length to obtain the desired length of the convex hull, and into small cubes with the length Cm ( , By creating ) Cm A segmentation cube generation step designated as (i,j,k), and Ch and Cm An intersection calculation step for calculating the intersection with (i,j,k), and Cp A 3D shape construction method for detecting collision of a ship, characterized by including a convex shell reconstruction step of reconstructing a convex shell using, wherein Ø represents an empty set in which no intersection region exists. Claim 7 In claim 6, in the AABB generation step, AABB(Axis-Aligned Bounding Box)( Ch When creating ), define the dimensions B (width), L (length), and H (height) to obtain the desired rectangular prism size ( A 3D shape configuration method for detecting a collision of a ship, characterized by determining ) and having the width, length, and height of a rectangular prism created by the AABB algorithm for the center of the hull (Ch) be B, L, and H, respectively. Claim 8 In claim 6, at the stage of generating a subdivision cube , , Judging whether or not Cp Returns, , , The other side By defining the intersection area between the central part (Ch) and the subdivision cube Cm(i,j,k) as Ct, ( ) Ct Calculate and check the intersection region between the central part (Ch) and the subdivision cube Cm(i,j,k); if an intersection region exists ( If not (By determining) add the corresponding Ct to set Cp( A 3D shape configuration method for detecting a collision of a ship, characterized by )

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